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Copter: explain msgs handling in packetReceived

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