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mavlink: only ignore messages on UDP before init 

We should still accept messages arriving over serial.
This commit is contained in:
Julian Oes 2019-10-24 09:50:29 +02:00 committed by Daniel Agar
parent 469ab9dce6
commit 24143a9fcf
1 changed files with 42 additions and 35 deletions
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77
src/modules/mavlink/mavlink_receiver.cpp
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@ -2632,48 +2632,55 @@ MavlinkReceiver::Run()
}
}
// only start accepting messages on UDP once we're sure who we talk to
if (_mavlink->get_protocol() != Protocol::UDP || _mavlink->get_client_source_initialized()) {
#endif // MAVLINK_UDP
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &_status)) {
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &_status)) {
/* check if we received version 2 and request a switch. */
if (!(_mavlink->get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) {
/* this will only switch to proto version 2 if allowed in settings */
_mavlink->set_proto_version(2);
/* check if we received version 2 and request a switch. */
if (!(_mavlink->get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) {
/* this will only switch to proto version 2 if allowed in settings */
_mavlink->set_proto_version(2);
}
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with mission manager */
_mission_manager.handle_message(&msg);
/* handle packet with parameter component */
_parameters_manager.handle_message(&msg);
if (_mavlink->ftp_enabled()) {
/* handle packet with ftp component */
_mavlink_ftp.handle_message(&msg);
}
/* handle packet with log component */
_mavlink_log_handler.handle_message(&msg);
/* handle packet with timesync component */
_mavlink_timesync.handle_message(&msg);
/* handle packet with parent object */
_mavlink->handle_message(&msg);
}
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with mission manager */
_mission_manager.handle_message(&msg);
/* handle packet with parameter component */
_parameters_manager.handle_message(&msg);
if (_mavlink->ftp_enabled()) {
/* handle packet with ftp component */
_mavlink_ftp.handle_message(&msg);
}
/* handle packet with log component */
_mavlink_log_handler.handle_message(&msg);
/* handle packet with timesync component */
_mavlink_timesync.handle_message(&msg);
/* handle packet with parent object */
_mavlink->handle_message(&msg);
}
/* count received bytes (nread will be -1 on read error) */
if (nread > 0) {
_mavlink->count_rxbytes(nread);
}
#if defined(MAVLINK_UDP)
}
/* count received bytes (nread will be -1 on read error) */
if (nread > 0) {
_mavlink->count_rxbytes(nread);
}
#endif // MAVLINK_UDP
}
hrt_abstime t = hrt_absolute_time();