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mavlink: accept msgs without source initialized 

I don't understand why we should wait to parse incoming MAVLink traffic
just because we don't have the source address initialized. We still
check the source address before doing a sendto.

This should fix serial MAVLink communication on FMU5x where both serial
and UDP is available. There the serial connection previously did not
work because nothing was connected over UDP.
This commit is contained in:
Julian Oes 2019-10-14 12:16:28 +02:00 committed by Daniel Agar
parent d5f003eed5
commit 469ab9dce6
1 changed files with 34 additions and 41 deletions
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75
src/modules/mavlink/mavlink_receiver.cpp
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@ -2632,55 +2632,48 @@ MavlinkReceiver::Run()
}
}
// only start accepting messages once we're sure who we talk to
if (_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);
}
/* 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);
/* 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);
}
}
/* count received bytes (nread will be -1 on read error) */
if (nread > 0) {
_mavlink->count_rxbytes(nread);
}
/* handle generic messages and commands */
handle_message(&msg);
#if defined(MAVLINK_UDP)
/* 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);
}
}
#endif // MAVLINK_UDP
/* count received bytes (nread will be -1 on read error) */
if (nread > 0) {
_mavlink->count_rxbytes(nread);
}
}
hrt_abstime t = hrt_absolute_time();