mirror of https://github.com/ArduPilot/ardupilot
42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
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#include <AP_HAL.h>
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#include "downstream.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 downstream_channel;
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extern FMStateMachine sm;
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static void downstream_handle_heartbeat(mavlink_message_t* msg) __attribute__((noinline));
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static void downstream_handle_heartbeat(mavlink_message_t* msg) {
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mavlink_heartbeat_t pkt;
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mavlink_msg_heartbeat_decode(msg, &pkt);
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sm.on_downstream_heartbeat(&pkt);
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}
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static void downstream_handle_gps(mavlink_message_t* msg) __attribute__((noinline));
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static void downstream_handle_gps(mavlink_message_t* msg) {
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mavlink_gps_raw_int_t pkt;
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mavlink_msg_gps_raw_int_decode(msg, &pkt);
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sm.on_downstream_gps_raw_int(&pkt);
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}
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void downstream_handler(mavlink_channel_t from, mavlink_message_t* msg) {
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switch (msg->msgid) {
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case MAVLINK_MSG_ID_HEARTBEAT:
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downstream_handle_heartbeat(msg);
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_mavlink_resend_uart(downstream_channel, msg);
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break;
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case MAVLINK_MSG_ID_GPS_RAW_INT:
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downstream_handle_gps(msg);
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_mavlink_resend_uart(downstream_channel, msg);
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break;
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default:
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_mavlink_resend_uart(downstream_channel, msg);
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}
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}
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