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GCS_MAVLink: only respond to timesync messages with empty tc1 

This avoids the possibility of a timesync message storm
Also process as a common message because no vehicle information is required
Moved location of new method to bottom of cpp file
This commit is contained in:
Randy Mackay 2017-03-29 15:47:32 +09:00
parent fdc310fe97
commit eddd6e5681
2 changed files with 34 additions and 28 deletions
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4
libraries/GCS_MAVLink/GCS.h
View File

@ -246,8 +246,6 @@ protected:
void handle_gps_inject(const mavlink_message_t *msg, AP_GPS &gps);
void handle_timesync(mavlink_message_t *msg);
void handle_common_message(mavlink_message_t *msg);
void handle_log_message(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_setup_signing(const mavlink_message_t *msg);
@ -256,6 +254,8 @@ protected:
void handle_device_op_read(mavlink_message_t *msg);
void handle_device_op_write(mavlink_message_t *msg);
void handle_timesync(mavlink_message_t *msg);
private:

58
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -761,32 +761,6 @@ void GCS_MAVLINK::handle_radio_status(mavlink_message_t *msg, DataFlash_Class &d
}
}
/*
return a timesync request
Sends back ts1 as received, and tc1 is the local timestamp in usec
*/
void GCS_MAVLINK::handle_timesync(mavlink_message_t *msg)
{
// Timestamp to return is usec since boot
uint64_t now = AP_HAL::micros64();
// Decode incoming timesync message
mavlink_timesync_t tsync;
mavlink_msg_timesync_decode(msg, &tsync);
// Create new timestruct to return
mavlink_timesync_t rsync;
rsync.ts1 = tsync.ts1;
rsync.tc1 = now;
// Return a timesync message with updated tc1 field
mavlink_msg_timesync_send(
chan,
rsync.tc1,
rsync.ts1
);
}
/*
handle an incoming mission item
return true if this is the last mission item, otherwise false
@ -1854,6 +1828,35 @@ uint8_t GCS_MAVLINK::handle_rc_bind(const mavlink_command_long_t &packet)
return MAV_RESULT_ACCEPTED;
}
/*
return a timesync request
Sends back ts1 as received, and tc1 is the local timestamp in usec
*/
void GCS_MAVLINK::handle_timesync(mavlink_message_t *msg)
{
// decode incoming timesync message
mavlink_timesync_t tsync;
mavlink_msg_timesync_decode(msg, &tsync);
// ignore messages in which tc1 field (timestamp 1) has already been filled in
if (tsync.tc1 != 0) {
return;
}
// create new timesync struct with tc1 field filled in
mavlink_timesync_t rsync;
rsync.tc1 = AP_HAL::micros64();
rsync.ts1 = tsync.ts1;
// respond with a timesync message
mavlink_msg_timesync_send(
chan,
rsync.tc1,
rsync.ts1
);
}
/*
handle messages which don't require vehicle specific data
*/
@ -1872,6 +1875,9 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
case MAVLINK_MSG_ID_DEVICE_OP_WRITE:
handle_device_op_write(msg);
break;
case MAVLINK_MSG_ID_TIMESYNC:
handle_timesync(msg);
break;
}
}