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GCS_MAVLink: removed use of mavlink_check_target()

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not needed now we do routing properly, as messages will only be
processed if they are for us
This commit is contained in:
Andrew Tridgell 2014-12-10 14:03:53 +11:00 committed by Randy Mackay
parent aa88ba4158
commit f1edd1bafb
4 changed files with 1 additions and 77 deletions
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58
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -232,11 +232,6 @@ void GCS_MAVLINK::handle_mission_request_list(AP_Mission &mission, mavlink_messa
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component)) {
return;
}
// reply with number of commands in the mission. The GCS will then request each command separately
mavlink_msg_mission_count_send(chan,msg->sysid, msg->compid, mission.num_commands());
@ -256,11 +251,6 @@ void GCS_MAVLINK::handle_mission_request(AP_Mission &mission, mavlink_message_t
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component)) {
return;
}
// retrieve mission from eeprom
if (!mission.read_cmd_from_storage(packet.seq, cmd)) {
goto mission_item_send_failed;
@ -314,11 +304,6 @@ void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, mavlink_messag
mavlink_mission_set_current_t packet;
mavlink_msg_mission_set_current_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
return;
}
// set current command
if (mission.set_current_cmd(packet.seq)) {
mavlink_msg_mission_current_send(chan, mission.get_current_nav_cmd().index);
@ -334,11 +319,6 @@ void GCS_MAVLINK::handle_mission_count(AP_Mission &mission, mavlink_message_t *m
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
return;
}
// start waypoint receiving
if (packet.count > mission.num_commands_max()) {
// send NAK
@ -366,11 +346,6 @@ void GCS_MAVLINK::handle_mission_clear_all(AP_Mission &mission, mavlink_message_
mavlink_mission_clear_all_t packet;
mavlink_msg_mission_clear_all_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component)) {
return;
}
// clear all waypoints
if (mission.clear()) {
// send ack
@ -390,11 +365,6 @@ void GCS_MAVLINK::handle_mission_write_partial_list(AP_Mission &mission, mavlink
mavlink_mission_write_partial_list_t packet;
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
return;
}
// start waypoint receiving
if ((unsigned)packet.start_index > mission.num_commands() ||
(unsigned)packet.end_index > mission.num_commands() ||
@ -444,10 +414,6 @@ void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
mavlink_request_data_stream_t packet;
mavlink_msg_request_data_stream_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component))
return;
int16_t freq = 0; // packet frequency
if (packet.start_stop == 0)
@ -509,11 +475,6 @@ void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)
mavlink_param_request_list_t packet;
mavlink_msg_param_request_list_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
return;
}
#if CONFIG_HAL_BOARD != HAL_BOARD_APM1 && CONFIG_HAL_BOARD != HAL_BOARD_APM2
// send system ID if we can
char sysid[40];
@ -533,10 +494,6 @@ void GCS_MAVLINK::handle_param_request_read(mavlink_message_t *msg)
mavlink_param_request_read_t packet;
mavlink_msg_param_request_read_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
return;
}
enum ap_var_type p_type;
AP_Param *vp;
char param_name[AP_MAX_NAME_SIZE+1];
@ -576,11 +533,6 @@ void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *Data
mavlink_param_set_t packet;
mavlink_msg_param_set_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component)) {
return;
}
// set parameter
char key[AP_MAX_NAME_SIZE+1];
strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
@ -719,11 +671,6 @@ void GCS_MAVLINK::handle_mission_item(mavlink_message_t *msg, AP_Mission &missio
mavlink_msg_mission_item_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
return;
}
// convert mavlink packet to mission command
if (!AP_Mission::mavlink_to_mission_cmd(packet, cmd)) {
result = MAV_MISSION_INVALID;
@ -1182,11 +1129,6 @@ void GCS_MAVLINK::handle_set_mode(mavlink_message_t* msg, bool (*set_mode)(uint8
mavlink_set_mode_t packet;
mavlink_msg_set_mode_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, 0)) {
return;
}
// only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
if (packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
if (set_mode(packet.custom_mode)) {

9
libraries/GCS_MAVLink/GCS_Logs.cpp
View File

@ -54,8 +54,7 @@ void GCS_MAVLINK::handle_log_request_list(mavlink_message_t *msg, DataFlash_Clas
{
mavlink_log_request_list_t packet;
mavlink_msg_log_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
return;
_log_listing = false;
_log_sending = false;
@ -89,8 +88,6 @@ void GCS_MAVLINK::handle_log_request_data(mavlink_message_t *msg, DataFlash_Clas
{
mavlink_log_request_data_t packet;
mavlink_msg_log_request_data_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
return;
_log_listing = false;
if (!_log_sending || _log_num_data != packet.id) {
@ -132,8 +129,6 @@ void GCS_MAVLINK::handle_log_request_erase(mavlink_message_t *msg, DataFlash_Cla
{
mavlink_log_erase_t packet;
mavlink_msg_log_erase_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
return;
dataflash.EraseAll();
}
@ -145,8 +140,6 @@ void GCS_MAVLINK::handle_log_request_end(mavlink_message_t *msg, DataFlash_Class
{
mavlink_log_request_end_t packet;
mavlink_msg_log_request_end_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
return;
_log_sending = false;
}

9
libraries/GCS_MAVLink/GCS_MAVLink.cpp
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@ -61,15 +61,6 @@ void GCS_MAVLINK::lock_channel(mavlink_channel_t _chan, bool lock)
}
}
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
{
if (sysid != mavlink_system.sysid)
return 1;
// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t)
{

2
libraries/GCS_MAVLink/GCS_MAVLink.h
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@ -128,8 +128,6 @@ bool comm_is_idle(mavlink_channel_t chan);
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t);