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Sub: Remove handling of unsupported mavlink messages

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This commit is contained in:
Jacob Walser 2017-04-16 14:11:15 -04:00
parent 697b095e99
commit d2629a13ee
1 changed files with 4 additions and 23 deletions
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27
ArduSub/GCS_Mavlink.cpp
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@ -956,14 +956,8 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
} }
// GCS has sent us a mission item, store to EEPROM // GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM: { // MAV ID: 39 case MAVLINK_MSG_ID_MISSION_ITEM:
if (handle_mission_item(msg, sub.mission)) { case MAVLINK_MSG_ID_MISSION_ITEM_INT: { // MAV ID: 39
sub.DataFlash.Log_Write_EntireMission(sub.mission);
}
break;
}
case MAVLINK_MSG_ID_MISSION_ITEM_INT: {
if (handle_mission_item(msg, sub.mission)) { if (handle_mission_item(msg, sub.mission)) {
sub.DataFlash.Log_Write_EntireMission(sub.mission); sub.DataFlash.Log_Write_EntireMission(sub.mission);
} }
@ -1104,15 +1098,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
} }
break; break;
case MAV_CMD_START_RX_PAIR:
// initiate bind procedure
if (!hal.rcin->rc_bind(packet.param1)) {
result = MAV_RESULT_FAILED;
} else {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
if (sub.set_mode(POSHOLD, MODE_REASON_GCS_COMMAND)) { if (sub.set_mode(POSHOLD, MODE_REASON_GCS_COMMAND)) {
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
@ -1665,12 +1650,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS: { // MAV ID: 109
handle_radio_status(msg, sub.DataFlash, sub.should_log(MASK_LOG_PM));
break;
}
case MAVLINK_MSG_ID_LOG_REQUEST_DATA: case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
case MAVLINK_MSG_ID_LOG_ERASE: case MAVLINK_MSG_ID_LOG_ERASE:
sub.in_log_download = true; sub.in_log_download = true;
@ -1831,6 +1810,8 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break; break;
} }
// This adds support for leak detectors in a separate enclosure
// connected to a mavlink enabled subsystem
case MAVLINK_MSG_ID_SYS_STATUS: { case MAVLINK_MSG_ID_SYS_STATUS: {
uint32_t MAV_SENSOR_WATER = 0x20000000; uint32_t MAV_SENSOR_WATER = 0x20000000;
mavlink_sys_status_t packet; mavlink_sys_status_t packet;