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Copter: removed use of mavlink_check_target()

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Andrew Tridgell 2014-12-10 14:31:45 +11:00 committed by Randy Mackay
parent f198cdcf20
commit e73f8b8e40
1 changed files with 0 additions and 24 deletions
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24
ArduCopter/GCS_Mavlink.pde
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@ -1035,11 +1035,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
int16_t v[8];
mavlink_msg_rc_channels_override_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
break;
}
v[0] = packet.chan1_raw;
v[1] = packet.chan2_raw;
v[2] = packet.chan3_raw;
@ -1064,11 +1059,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component)) {
break;
}
switch(packet.command) {
case MAV_CMD_NAV_TAKEOFF:
@ -1349,11 +1339,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component)) {
break;
}
// exit if vehicle is not in Guided mode or Auto-Guided mode
if ((control_mode != GUIDED) && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) {
break;
@ -1389,11 +1374,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_set_position_target_global_int_t packet;
mavlink_msg_set_position_target_global_int_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component)) {
break;
}
// exit if vehicle is not in Guided mode or Auto-Guided mode
if ((control_mode != GUIDED) && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) {
break;
@ -1557,8 +1537,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_RALLY_POINT: {
mavlink_rally_point_t packet;
mavlink_msg_rally_point_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
if (packet.idx >= rally.get_rally_total() ||
packet.idx >= rally.get_rally_max()) {
@ -1592,8 +1570,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_rally_fetch_point_t packet;
mavlink_msg_rally_fetch_point_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.pde 2")); // #### TEMP