Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: explain msgs handling in packetReceived

This commit is contained in:
chobitsfan 2022-10-27 10:36:09 +08:00 committed by Randy Mackay
parent 400c65ce5d
commit b7e0b1ad38
1 changed files with 1 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduCopter/GCS_Mavlink.cpp
View File

@ -577,6 +577,7 @@ bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
const mavlink_message_t &msg)
{
// we handle these messages here to avoid them being blocked by mavlink routing code
#if HAL_ADSB_ENABLED
if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
// optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source