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Merge pull request #816 from PX4/mavlink_commandlongstream 

mavlink: COMMAND_LONG stream: listen to vehicle_command uorb topic and send mavlink_msg_command_long
This commit is contained in:
Lorenz Meier 2014-04-08 21:38:32 +02:00
parent d55e64d1e5 f0d043c068
commit 00ef10f307
1 changed files with 46 additions and 0 deletions
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46
src/modules/mavlink/mavlink_messages.cpp
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@ -1271,6 +1271,51 @@ protected:
}
};
class MavlinkStreamCommandLong : public MavlinkStream
{
public:
const char *get_name()
{
return "COMMAND_LONG";
}
MavlinkStream *new_instance()
{
return new MavlinkStreamCommandLong();
}
private:
MavlinkOrbSubscription *vehicle_command_sub;
struct vehicle_command_s *vehicle_command;
protected:
void subscribe(Mavlink *mavlink)
{
vehicle_command_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_command));
vehicle_command = (struct vehicle_command_s *)vehicle_command_sub->get_data();
}
void send(const hrt_abstime t)
{
if (vehicle_command_sub->update(t)) {
if (!((vehicle_command->target_system == mavlink_system.sysid) && (vehicle_command->target_component == mavlink_system.compid))) {
mavlink_msg_command_long_send(_channel,
vehicle_command->target_system,
vehicle_command->target_component,
vehicle_command->command,
vehicle_command->confirmation,
vehicle_command->param1,
vehicle_command->param2,
vehicle_command->param3,
vehicle_command->param4,
vehicle_command->param5,
vehicle_command->param6,
vehicle_command->param7);
}
}
}
};
MavlinkStream *streams_list[] = {
new MavlinkStreamHeartbeat(),
new MavlinkStreamSysStatus(),
@ -1297,5 +1342,6 @@ MavlinkStream *streams_list[] = {
new MavlinkStreamAttitudeControls(),
new MavlinkStreamNamedValueFloat(),
new MavlinkStreamCameraCapture(),
new MavlinkStreamCommandLong(),
nullptr
};