aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: move accept_packet to GCS_MAVLink base class

Browse Source
This commit is contained in:
Peter Barker 2018-12-14 10:12:42 +11:00 committed by Peter Barker
parent 588829161b
commit 0e6efd6de0
2 changed files with 5 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ArduCopter/GCS_Mavlink.cpp
View File

@ -244,6 +244,10 @@ uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
{
return copter.g.sysid_my_gcs;
}
bool GCS_MAVLINK_Copter::sysid_enforce() const
{
return copter.g2.sysid_enforce;
}
uint32_t GCS_MAVLINK_Copter::telem_delay() const
{
@ -1455,20 +1459,6 @@ void Copter::mavlink_delay_cb()
DataFlash.EnableWrites(true);
}
/*
return true if we will accept this packet. Used to implement SYSID_ENFORCE
*/
bool GCS_MAVLINK_Copter::accept_packet(const mavlink_status_t &status, mavlink_message_t &msg)
{
if (!copter.g2.sysid_enforce) {
return true;
}
if (msg.msgid == MAVLINK_MSG_ID_RADIO || msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
return true;
}
return (msg.sysid == copter.g.sysid_my_gcs);
}
AP_AdvancedFailsafe *GCS_MAVLINK_Copter::get_advanced_failsafe() const
{
#if ADVANCED_FAILSAFE == ENABLED

3
ArduCopter/GCS_Mavlink.h
View File

@ -14,14 +14,13 @@ protected:
uint32_t telem_delay() const override;
bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
AP_Rally *get_rally() const override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
AP_AdvancedFailsafe *get_advanced_failsafe() const override;
AP_VisualOdom *get_visual_odom() const override;
uint8_t sysid_my_gcs() const override;
bool sysid_enforce() const override;
bool set_mode(uint8_t mode) override;