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GCS_MAVLink: allow statustext logging from any source system

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Turns out this is terribly useful for companion computers if
you allow them to log things when they're not your GCS.

The original check was bogus; if someone is talking to you via
mavlink they can do much worse than fill your logs!
This commit is contained in:
Peter Barker 2017-08-10 15:22:34 +10:00 committed by Francisco Ferreira
parent 0bd5d6ca18
commit 921985fe27
1 changed files with 16 additions and 6 deletions
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22
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1685,14 +1685,24 @@ void GCS_MAVLINK::handle_statustext(mavlink_message_t *msg)
if (df == nullptr) {
return;
}
// ignore any statustext messages not from our GCS:
if (msg->sysid != sysid_my_gcs()) {
return;
}
mavlink_statustext_t packet;
mavlink_msg_statustext_decode(msg, &packet);
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+4] = { 'G','C','S',':'};
memcpy(&text[4], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
const uint8_t max_prefix_len = 20;
const uint8_t text_len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+max_prefix_len;
char text[text_len] = { 'G','C','S',':'};
uint8_t offset = strlen(text);
if (msg->sysid != sysid_my_gcs()) {
offset = hal.util->snprintf(text,
max_prefix_len,
"SRC=%u/%u:",
msg->sysid,
msg->compid);
}
memcpy(&text[offset], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
df->Log_Write_Message(text);
}