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https://github.com/ArduPilot/ardupilot
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Plane: move handling of incoming statutext messages up
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016eeaa258
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c9c4b31e99
@ -419,6 +419,11 @@ void Plane::send_current_waypoint(mavlink_channel_t chan)
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mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
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}
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uint8_t GCS_MAVLINK_Plane::sysid_my_gcs() const
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{
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return plane.g.sysid_my_gcs;
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}
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uint32_t GCS_MAVLINK_Plane::telem_delay() const
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{
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return (uint32_t)(plane.g.telem_delay);
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@ -970,20 +975,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
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break;
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}
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case MAVLINK_MSG_ID_STATUSTEXT:
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{
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// ignore any statustext messages not from our GCS:
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if (msg->sysid != plane.g.sysid_my_gcs) {
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break;
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}
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mavlink_statustext_t packet;
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mavlink_msg_statustext_decode(msg, &packet);
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char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+4] = { 'G','C','S',':'};
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memcpy(&text[4], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
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plane.DataFlash.Log_Write_Message(text);
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break;
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}
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case MAVLINK_MSG_ID_COMMAND_INT:
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{
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// decode
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@ -21,6 +21,8 @@ protected:
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AP_Mission *get_mission() override;
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void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
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uint8_t sysid_my_gcs() const override;
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private:
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void handleMessage(mavlink_message_t * msg) override;
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