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GCS_MAVLink: record mavlink msg IDs for watchdog

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This commit is contained in:
Andrew Tridgell 2019-05-11 18:20:20 +10:00
parent 8d0bca6ba9
commit 64c723fd31
1 changed files with 5 additions and 0 deletions
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5
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1507,6 +1507,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
// Try to get a new message // Try to get a new message
if (mavlink_parse_char(chan, c, &msg, &status)) { if (mavlink_parse_char(chan, c, &msg, &status)) {
hal.util->persistent_data.last_mavlink_msgid = msg.msgid;
hal.util->perf_begin(_perf_packet); hal.util->perf_begin(_perf_packet);
packetReceived(status, msg); packetReceived(status, msg);
hal.util->perf_end(_perf_packet); hal.util->perf_end(_perf_packet);
@ -3737,6 +3738,8 @@ void GCS_MAVLINK::handle_command_long(mavlink_message_t *msg)
mavlink_command_long_t packet; mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet); mavlink_msg_command_long_decode(msg, &packet);
hal.util->persistent_data.last_mavlink_cmd = packet.command;
const MAV_RESULT result = handle_command_long_packet(packet); const MAV_RESULT result = handle_command_long_packet(packet);
// send ACK or NAK // send ACK or NAK
@ -3854,6 +3857,8 @@ void GCS_MAVLINK::handle_command_int(mavlink_message_t *msg)
mavlink_command_int_t packet; mavlink_command_int_t packet;
mavlink_msg_command_int_decode(msg, &packet); mavlink_msg_command_int_decode(msg, &packet);
hal.util->persistent_data.last_mavlink_cmd = packet.command;
const MAV_RESULT result = handle_command_int_packet(packet); const MAV_RESULT result = handle_command_int_packet(packet);
// send ACK or NAK // send ACK or NAK