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

GCS_MAVLink: Common: Allow scripting to receive messages which fail CRC check

This commit is contained in:
Iampete1 2024-09-27 18:30:30 +01:00 committed by Andrew Tridgell
parent 902f1e6476
commit d7599f225c
1 changed files with 12 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1865,14 +1865,25 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
bool parsed_packet = false;
// Try to get a new message
if (mavlink_frame_char_buffer(channel_buffer(), channel_status(), c, &msg, &status) == MAVLINK_FRAMING_OK) {
const uint8_t framing = mavlink_frame_char_buffer(channel_buffer(), channel_status(), c, &msg, &status);
if (framing == MAVLINK_FRAMING_OK) {
hal.util->persistent_data.last_mavlink_msgid = msg.msgid;
packetReceived(status, msg);
parsed_packet = true;
gcs_alternative_active[chan] = false;
alternative.last_mavlink_ms = now_ms;
hal.util->persistent_data.last_mavlink_msgid = 0;
}
#if AP_SCRIPTING_ENABLED
else if (framing == MAVLINK_FRAMING_BAD_CRC) {
// This may be a valid message that we don't know the crc extra for, pass it to scripting which might
AP_Scripting *scripting = AP_Scripting::get_singleton();
if (scripting != nullptr) {
scripting->handle_message(msg, chan);
}
}
#endif // AP_SCRIPTING_ENABLED
if (parsed_packet || i % 100 == 0) {
// make sure we don't spend too much time parsing mavlink messages