dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mavlink: add support for legacy requests back in

This commit is contained in:
Julian Oes 2020-05-28 11:16:46 +02:00
parent b4cbd93b7c
commit 80f91b0f6a
1 changed files with 16 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -418,8 +418,22 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
return;
}
if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
_mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f);
// First we handle legacy support requests which were used before we had
// the generic MAV_CMD_REQUEST_MESSAGE.
if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
result = handle_request_message_command(MAVLINK_MSG_ID_AUTOPILOT_VERSION);
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) {
result = handle_request_message_command(MAVLINK_MSG_ID_PROTOCOL_VERSION);
} else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
result = handle_request_message_command(MAVLINK_MSG_ID_HOME_POSITION);
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) {
result = handle_request_message_command(MAVLINK_MSG_ID_FLIGHT_INFORMATION);
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_STORAGE_INFORMATION) {
result = handle_request_message_command(MAVLINK_MSG_ID_STORAGE_INFORMATION);
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
if (set_message_interval((int)roundf(cmd_mavlink.param1), cmd_mavlink.param2, cmd_mavlink.param3)) {