Copter: pass DISTANCE_SENSOR messages to rangefinders

This allows the MAVLink range finder driver to intercept distance measurements
2016-05-04 12:03:56 +09:00 · 2016-05-04 12:03:56 +09:00 · 7960e3bb8f
commit 7960e3bb8f
parent d3831e4a5d
1 changed files with 7 additions and 0 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -1791,6 +1791,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
        break;
    }

+    case MAVLINK_MSG_ID_DISTANCE_SENSOR:
+    {
+        result = MAV_RESULT_ACCEPTED;
+        copter.sonar.handle_msg(msg);
+        break;
+    }
+
 #if HIL_MODE != HIL_MODE_DISABLED
    case MAVLINK_MSG_ID_HIL_STATE:          // MAV ID: 90
    {