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GCS_MAVLink: add support for request_message

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Peter Barker 2019-02-08 13:05:54 +11:00 committed by Peter Barker
parent 9c8a7efbc6
commit 0ef26a6950
2 changed files with 16 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -374,6 +374,7 @@ protected:
MAV_RESULT handle_command_set_message_interval(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_get_message_interval(const mavlink_command_long_t &packet);
bool get_ap_message_interval(ap_message id, uint16_t &interval_ms) const;
MAV_RESULT handle_command_request_message(const mavlink_command_long_t &packet);
MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);

15
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2316,6 +2316,17 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_message_interval(const mavlink_comman
return MAV_RESULT_FAILED;
}
MAV_RESULT GCS_MAVLINK::handle_command_request_message(const mavlink_command_long_t &packet)
{
const uint32_t mavlink_id = (uint32_t)packet.param1;
const ap_message id = mavlink_id_to_ap_message_id(mavlink_id);
if (id == MSG_LAST) {
return MAV_RESULT_FAILED;
}
send_message(id);
return MAV_RESULT_ACCEPTED;
}
bool GCS_MAVLINK::get_ap_message_interval(ap_message id, uint16_t &interval_ms) const
{
// check if it's a specially-handled message:
@ -3657,6 +3668,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_get_message_interval(packet);
break;
case MAV_CMD_REQUEST_MESSAGE:
result = handle_command_request_message(packet);
break;
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_SET_RELAY: