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GCS_MAVLink: move ADSB mavlink handling from vehicles to common library

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This commit is contained in:
Tom Pittenger 2021-10-12 16:25:23 -07:00 committed by Tom Pittenger
parent a06a192255
commit 12192f60e3
2 changed files with 19 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -458,6 +458,8 @@ protected:
void handle_obstacle_distance(const mavlink_message_t &msg);
void handle_obstacle_distance_3d(const mavlink_message_t &msg);
void handle_adsb_message(const mavlink_message_t &msg);
void handle_osd_param_config(const mavlink_message_t &msg) const;
void handle_common_param_message(const mavlink_message_t &msg);

17
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3359,6 +3359,16 @@ void GCS_MAVLINK::handle_obstacle_distance_3d(const mavlink_message_t &msg)
#endif
}
void GCS_MAVLINK::handle_adsb_message(const mavlink_message_t &msg)
{
#if HAL_ADSB_ENABLED
AP_ADSB *adsb = AP::ADSB();
if (adsb != nullptr) {
adsb->handle_message(chan, msg);
}
#endif
}
void GCS_MAVLINK::handle_osd_param_config(const mavlink_message_t &msg) const
{
#if OSD_PARAM_ENABLED
@ -3581,6 +3591,13 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
handle_osd_param_config(msg);
break;
case MAVLINK_MSG_ID_ADSB_VEHICLE:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
handle_adsb_message(msg);
break;
case MAVLINK_MSG_ID_LANDING_TARGET:
handle_landing_target(msg);
break;