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mavlink: handle stream not updated 

Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.
This commit is contained in:
Julian Oes 2020-05-29 12:03:22 +02:00
parent efb10a2fbc
commit 2c5b8a9491
1 changed files with 5 additions and 3 deletions
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8
src/modules/mavlink/mavlink_receiver.cpp
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@ -516,10 +516,12 @@ uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, flo
float param5, float param6, float param7)
{
bool stream_found = false;
bool message_sent = false;
for (const auto &stream : _mavlink->get_streams()) {
if (stream->get_id() == message_id) {
stream_found = stream->request_message(param2, param3, param4, param5, param6, param7);
stream_found = true;
message_sent = stream->request_message(param2, param3, param4, param5, param6, param7);
break;
}
}
@ -534,14 +536,14 @@ uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, flo
// Now we try again to send it.
for (const auto &stream : _mavlink->get_streams()) {
if (stream->get_id() == message_id) {
stream_found = stream->request_message(param2, param3, param4, param5, param6, param7);
message_sent = stream->request_message(param2, param3, param4, param5, param6, param7);
break;
}
}
}
}
return (stream_found ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
return (message_sent ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED);
}