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Sub: Check MANUAL_CONTROL target

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Michael du Breuil 2018-04-03 16:20:40 -07:00 committed by Francisco Ferreira
parent adb7ecef92
commit e840006ff9
1 changed files with 4 additions and 0 deletions
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4
ArduSub/GCS_Mavlink.cpp
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@ -931,6 +931,10 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
if (packet.target != sub.g.sysid_this_mav) {
break; // only accept control aimed at us
}
sub.transform_manual_control_to_rc_override(packet.x,packet.y,packet.z,packet.r,packet.buttons);
sub.failsafe.last_pilot_input_ms = AP_HAL::millis();