mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.1 KiB
C++
40 lines
1.1 KiB
C++
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#include <AP_HAL.h>
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#include "upstream.h"
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#include "state.h"
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extern const AP_HAL::HAL& hal;
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extern mavlink_channel_t upstream_channel;
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extern FMStateMachine sm;
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static void upstream_handle_command_long(mavlink_message_t* msg) __attribute__((noinline));
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static void upstream_handle_command_long(mavlink_message_t* msg) {
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mavlink_command_long_t pkt;
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mavlink_msg_command_long_decode(msg, &pkt);
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sm.on_upstream_command_long(&pkt);
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}
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static void upstream_handle_set_mode(mavlink_message_t* msg) __attribute__((noinline));
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static void upstream_handle_set_mode(mavlink_message_t* msg) {
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mavlink_set_mode_t pkt;
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mavlink_msg_set_mode_decode(msg, &pkt);
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sm.on_upstream_set_mode(&pkt);
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}
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void upstream_handler(mavlink_channel_t from, mavlink_message_t* msg) {
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switch (msg->msgid) {
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case MAVLINK_MSG_ID_COMMAND_LONG:
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upstream_handle_command_long(msg);
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_mavlink_resend_uart(upstream_channel, msg);
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break;
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case MAVLINK_MSG_ID_SET_MODE:
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upstream_handle_set_mode(msg);
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_mavlink_resend_uart(upstream_channel, msg);
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break;
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default:
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_mavlink_resend_uart(upstream_channel, msg);
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}
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}
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