From a3152b2410a76103c449a3e644d05d31a7f76f80 Mon Sep 17 00:00:00 2001
From: Amilcar Lucas <amilcar.lucas@gmail.com>
Date: Sat, 24 Sep 2011 14:40:07 +0200
Subject: [PATCH] Moved mavlink_check_target() to the libraries/. This allows
 it to be reused by the other libraries and by other projects ArduPlane,
 ArduCopter, ArduRover ... etc. It also reduces code duplication

---
 ArduCopter/Mavlink_Common.h           | 17 -----------------
 ArduPlane/GCS_Mavlink.pde             | 10 ----------
 libraries/GCS_MAVLink/GCS_MAVLink.cpp |  9 +++++++++
 libraries/GCS_MAVLink/GCS_MAVLink.h   |  2 ++
 4 files changed, 11 insertions(+), 27 deletions(-)

diff --git a/ArduCopter/Mavlink_Common.h b/ArduCopter/Mavlink_Common.h
index 927289dad6..fea60d35c4 100644
--- a/ArduCopter/Mavlink_Common.h
+++ b/ArduCopter/Mavlink_Common.h
@@ -8,23 +8,6 @@
 byte mavdelay = 0;
 
 
-static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
-{
-//Serial.print("target = "); Serial.print(sysid, DEC); Serial.print("\tcomp = "); Serial.println(compid, DEC);
-    if (sysid != mavlink_system.sysid){
-        return 1;
-
-	// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
-	// If it is addressed to our system ID we assume it is for us
-    //}else if(compid != mavlink_system.compid){
-	//	gcs.send_text_P(SEVERITY_LOW,PSTR("component id mismatch"));
-    //    return 1; // XXX currently not receiving correct compid from gcs
-
-    }else{
-    	return 0; // no error
-    }
-}
-
 #define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
 
 /*
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 582319f142..77da01321e 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -8,16 +8,6 @@ static bool in_mavlink_delay;
 static mavlink_statustext_t pending_status;
 
 
-static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
-{
-    if (sysid != mavlink_system.sysid)
-        return 1;
-    // Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
-    // If it is addressed to our system ID we assume it is for us
-    return 0; // no error
-}
-
-
 // check if a message will fit in the payload space available
 #define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
 
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.cpp b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
index 0ecc270f5a..ea90e307fd 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
@@ -12,3 +12,12 @@ BetterStream	*mavlink_comm_1_port;
 mavlink_system_t mavlink_system = {7,1,0,0};
 
 #include "include/mavlink_helpers.h"
+
+uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
+{
+    if (sysid != mavlink_system.sysid)
+        return 1;
+    // Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
+    // If it is addressed to our system ID we assume it is for us
+    return 0; // no error
+}
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.h b/libraries/GCS_MAVLink/GCS_MAVLink.h
index 5de542bc4a..5d80f46288 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.h
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.h
@@ -111,4 +111,6 @@ static inline int comm_get_txspace(mavlink_channel_t chan)
 #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
 #include "include/ardupilotmega/mavlink.h"
 
+uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
+
 #endif // GCS_MAVLink_h