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GCS_MAVLink: use mavlink_XXX_encode_status() in example code

This commit is contained in:
Andrew Tridgell 2023-09-29 14:10:03 +10:00
parent be01fcfdfd
commit ac3f4f0c5e
1 changed files with 7 additions and 6 deletions
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13
libraries/GCS_MAVLink/examples/routing/routing.cpp
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@ -24,6 +24,7 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
}; };
static MAVLink_routing routing; static MAVLink_routing routing;
static mavlink_status_t status;
void setup(void) void setup(void)
{ {
@ -40,7 +41,7 @@ void loop(void)
mavlink_message_t msg; mavlink_message_t msg;
mavlink_heartbeat_t heartbeat = {0}; mavlink_heartbeat_t heartbeat = {0};
mavlink_msg_heartbeat_encode(3, 1, &msg, &heartbeat); mavlink_msg_heartbeat_encode_status(3, 1, &status, &msg, &heartbeat);
GCS_MAVLINK *dummy_link = gcs().chan(0); GCS_MAVLINK *dummy_link = gcs().chan(0);
@ -51,7 +52,7 @@ void loop(void)
// incoming non-targetted message // incoming non-targetted message
mavlink_attitude_t attitude = {0}; mavlink_attitude_t attitude = {0};
mavlink_msg_attitude_encode(3, 1, &msg, &attitude); mavlink_msg_attitude_encode_status(3, 1, &status, &msg, &attitude);
if (!routing.check_and_forward(*dummy_link, msg)) { if (!routing.check_and_forward(*dummy_link, msg)) {
hal.console->printf("attitude should be processed locally\n"); hal.console->printf("attitude should be processed locally\n");
err_count++; err_count++;
@ -61,7 +62,7 @@ void loop(void)
mavlink_param_set_t param_set = {0}; mavlink_param_set_t param_set = {0};
param_set.target_system = mavlink_system.sysid+1; param_set.target_system = mavlink_system.sysid+1;
param_set.target_component = mavlink_system.compid; param_set.target_component = mavlink_system.compid;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set); mavlink_msg_param_set_encode_status(3, 1, &status, &msg, &param_set);
if (routing.check_and_forward(*dummy_link, msg)) { if (routing.check_and_forward(*dummy_link, msg)) {
hal.console->printf("param set 1 should not be processed locally\n"); hal.console->printf("param set 1 should not be processed locally\n");
err_count++; err_count++;
@ -70,7 +71,7 @@ void loop(void)
// incoming targeted message for us // incoming targeted message for us
param_set.target_system = mavlink_system.sysid; param_set.target_system = mavlink_system.sysid;
param_set.target_component = mavlink_system.compid; param_set.target_component = mavlink_system.compid;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set); mavlink_msg_param_set_encode_status(3, 1, &status, &msg, &param_set);
if (!routing.check_and_forward(*dummy_link, msg)) { if (!routing.check_and_forward(*dummy_link, msg)) {
hal.console->printf("param set 2 should be processed locally\n"); hal.console->printf("param set 2 should be processed locally\n");
err_count++; err_count++;
@ -80,7 +81,7 @@ void loop(void)
// should be processed locally // should be processed locally
param_set.target_system = mavlink_system.sysid; param_set.target_system = mavlink_system.sysid;
param_set.target_component = mavlink_system.compid+1; param_set.target_component = mavlink_system.compid+1;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set); mavlink_msg_param_set_encode_status(3, 1, &status, &msg, &param_set);
if (!routing.check_and_forward(*dummy_link, msg)) { if (!routing.check_and_forward(*dummy_link, msg)) {
hal.console->printf("param set 3 should be processed locally\n"); hal.console->printf("param set 3 should be processed locally\n");
err_count++; err_count++;
@ -89,7 +90,7 @@ void loop(void)
// incoming broadcast message should be processed locally // incoming broadcast message should be processed locally
param_set.target_system = 0; param_set.target_system = 0;
param_set.target_component = mavlink_system.compid+1; param_set.target_component = mavlink_system.compid+1;
mavlink_msg_param_set_encode(3, 1, &msg, &param_set); mavlink_msg_param_set_encode_status(3, 1, &status, &msg, &param_set);
if (!routing.check_and_forward(*dummy_link, msg)) { if (!routing.check_and_forward(*dummy_link, msg)) {
hal.console->printf("param set 4 should be processed locally\n"); hal.console->printf("param set 4 should be processed locally\n");
err_count++; err_count++;