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GCS_MAVLink: populate sysid/compid in reboot ACK

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Peter Barker 2022-09-14 10:46:55 +10:00 committed by Peter Barker
parent 3ced1b27aa
commit c8a1fff8ae
2 changed files with 9 additions and 7 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -503,7 +503,7 @@ protected:
void handle_common_message(const mavlink_message_t &msg);
void handle_set_gps_global_origin(const mavlink_message_t &msg);
void handle_setup_signing(const mavlink_message_t &msg) const;
virtual MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
// reset a message interval via mavlink:
MAV_RESULT handle_command_set_message_interval(const mavlink_command_long_t &packet);

14
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2907,7 +2907,7 @@ void GCS_MAVLINK::send_vfr_hud()
motors. That can be dangerous when a preflight reboot is done with
the pilot close to the aircraft and can also damage the aircraft
*/
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
{
if (is_equal(packet.param1, 42.0f) &&
is_equal(packet.param2, 24.0f) &&
@ -3004,7 +3004,9 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
// send ack before we reboot
mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED,
0, 0, 0, 0);
0, 0,
msg.sysid,
msg.compid);
// when packet.param1 == 3 we reboot to hold in bootloader
const bool hold_in_bootloader = is_equal(packet.param1, 3.0f);
@ -4533,10 +4535,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_do_fence_enable(packet);
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
result = handle_preflight_reboot(packet);
break;
#if HAL_HIGH_LATENCY2_ENABLED
case MAV_CMD_CONTROL_HIGH_LATENCY:
result = handle_control_high_latency(packet);
@ -4779,6 +4777,10 @@ void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
result = handle_can_forward(packet, msg);
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
result = handle_preflight_reboot(packet, msg);
break;
default:
result = handle_command_long_packet(packet);
break;