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mavlink: Allow mavlink_send to take component_ID into account. Still use a default argument in case the user does not supply a component_ID

This commit is contained in:
philipoe 2015-04-09 19:12:38 +02:00
parent b4edf92627
commit 309a767c06
2 changed files with 3 additions and 3 deletions
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4
src/modules/mavlink/mavlink_main.cpp
View File

@ -746,7 +746,7 @@ Mavlink::get_free_tx_buf()
} }
void void
Mavlink::send_message(const uint8_t msgid, const void *msg) Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID)
{ {
/* If the wait until transmit flag is on, only transmit after we've received messages. /* If the wait until transmit flag is on, only transmit after we've received messages.
Otherwise, transmit all the time. */ Otherwise, transmit all the time. */
@ -780,7 +780,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
/* use mavlink's internal counter for the TX seq */ /* use mavlink's internal counter for the TX seq */
buf[2] = mavlink_get_channel_status(_channel)->current_tx_seq++; buf[2] = mavlink_get_channel_status(_channel)->current_tx_seq++;
buf[3] = mavlink_system.sysid; buf[3] = mavlink_system.sysid;
buf[4] = mavlink_system.compid; buf[4] = component_ID==0 ? mavlink_system.compid:component_ID;
buf[5] = msgid; buf[5] = msgid;
/* payload */ /* payload */

2
src/modules/mavlink/mavlink_main.h
View File

@ -169,7 +169,7 @@ public:
*/ */
int set_hil_enabled(bool hil_enabled); int set_hil_enabled(bool hil_enabled);
void send_message(const uint8_t msgid, const void *msg); void send_message(const uint8_t msgid, const void *msg, uint8_t component_ID = 0);
/** /**
* Resend message as is, don't change sequence number and CRC. * Resend message as is, don't change sequence number and CRC.