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Tracker: check target of manual control msgs

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This commit is contained in:
Randy Mackay 2014-10-01 21:45:43 +09:00
parent df827fdb8c
commit ac158f15e9
1 changed files with 7 additions and 4 deletions
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11
AntennaTracker/GCS_Mavlink.pde
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@ -810,10 +810,13 @@ mission_failed:
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
if (g.proxy_mode == true && proxy_vehicle.initialised) {
// Also proxy it to the remote
if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES)
_mavlink_resend_uart(proxy_vehicle.chan, msg);
// if the packet is not for us, send onto the vehicle
if (mavlink_check_target(packet.target,0)) {
if (g.proxy_mode == true && proxy_vehicle.initialised) {
if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES)
_mavlink_resend_uart(proxy_vehicle.chan, msg);
}
break;
}
if(msg->sysid != g.sysid_my_gcs) break; // Only accept control from our gcs
tracking_manual_control(packet);