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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
This commit is contained in:
Amilcar Lucas 2011-09-24 14:40:07 +02:00
parent c9c73dbdf0
commit a3152b2410
4 changed files with 11 additions and 27 deletions
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17
ArduCopter/Mavlink_Common.h
View File

@ -8,23 +8,6 @@
byte mavdelay = 0; 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 #define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
/* /*

10
ArduPlane/GCS_Mavlink.pde
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@ -8,16 +8,6 @@ static bool in_mavlink_delay;
static mavlink_statustext_t pending_status; 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 // 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 #define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false

9
libraries/GCS_MAVLink/GCS_MAVLink.cpp
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@ -12,3 +12,12 @@ BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system = {7,1,0,0}; mavlink_system_t mavlink_system = {7,1,0,0};
#include "include/mavlink_helpers.h" #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
}

2
libraries/GCS_MAVLink/GCS_MAVLink.h
View File

@ -111,4 +111,6 @@ static inline int comm_get_txspace(mavlink_channel_t chan)
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#include "include/ardupilotmega/mavlink.h" #include "include/ardupilotmega/mavlink.h"
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
#endif // GCS_MAVLink_h #endif // GCS_MAVLink_h