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GCS_MAVLink: fix set-default-rate of a message we don't send by default 

this fixes a problem where a GCS must know that a message isn't sent by default if they want to set it back to its default rate
This commit is contained in:
Peter Barker 2022-10-13 10:08:51 +11:00 committed by Andrew Tridgell
parent 6b0dd7e689
commit 6c3f9f9778
2 changed files with 16 additions and 14 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -749,7 +749,6 @@ private:
// if true is returned, interval will contain the default interval for id
bool get_default_interval_for_ap_message(const ap_message id, uint16_t &interval) const;
// if true is returned, interval will contain the default interval for id
bool get_default_interval_for_mavlink_message_id(const uint32_t mavlink_message_id, uint16_t &interval) const;
// returns an interval in milliseconds for any ap_message in stream id
uint16_t get_interval_for_stream(GCS_MAVLINK::streams id) const;
// set an inverval for a specific mavlink message. Returns false

29
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2659,11 +2659,24 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_message_interval(const mavlink_comman
MAV_RESULT GCS_MAVLINK::set_message_interval(uint32_t msg_id, int32_t interval_us)
{
const ap_message id = mavlink_id_to_ap_message_id(msg_id);
if (id == MSG_LAST) {
gcs().send_text(MAV_SEVERITY_INFO, "No ap_message for mavlink id (%u)", (unsigned int)msg_id);
return MAV_RESULT_DENIED;
}
uint16_t interval_ms;
if (interval_us == 0) {
// zero is "reset to default rate"
if (!get_default_interval_for_mavlink_message_id(msg_id, interval_ms)) {
return MAV_RESULT_FAILED;
if (!get_default_interval_for_ap_message(id, interval_ms)) {
// if we don't have a default interval then we assume that
// we do not send that message by default. That may not
// be strictly true if some random piece of code has set a
// rate as part of its initialisation - in which case that
// piece of code should probably be adding something into
// whatever get_default_interval_for_ap_message is looking
// at.
interval_ms = 0;
}
} else if (interval_us == -1) {
// minus-one is "stop sending"
@ -2676,7 +2689,7 @@ MAV_RESULT GCS_MAVLINK::set_message_interval(uint32_t msg_id, int32_t interval_u
} else {
interval_ms = interval_us / 1000;
}
if (set_mavlink_message_id_interval(msg_id, interval_ms)) {
if (set_ap_message_interval(id, interval_ms)) {
return MAV_RESULT_ACCEPTED;
}
@ -6017,16 +6030,6 @@ bool GCS_MAVLINK::get_default_interval_for_ap_message(const ap_message id, uint1
return false;
}
bool GCS_MAVLINK::get_default_interval_for_mavlink_message_id(const uint32_t mavlink_message_id, uint16_t &interval) const
{
const ap_message id = mavlink_id_to_ap_message_id(mavlink_message_id);
if (id == MSG_LAST) {
return false;
}
return get_default_interval_for_ap_message(id, interval);
}
/*
correct an offboard timestamp in microseconds into a local timestamp
since boot in milliseconds. See the JitterCorrection code for details