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mavlink: streams/COMMAND_LONG don't send internal vehicle_commands

This commit is contained in:
Daniel Agar 2022-01-28 14:16:11 -05:00
parent f8a090e85e
commit e387f302f9
1 changed files with 10 additions and 1 deletions
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11
src/modules/mavlink/streams/COMMAND_LONG.hpp
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@ -74,7 +74,16 @@ private:
_vehicle_command_sub.get_last_generation());
}
if (!cmd.from_external && cmd.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
// mavlink mavlink commands are <= UINT16_MAX
const bool px4_internal_cmd = (cmd.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START);
// internal commands
const bool target_system_internal = (cmd.target_system == _mavlink->get_system_id())
&& (cmd.target_component == _mavlink->get_component_id())
&& (cmd.source_system == cmd.target_system)
&& (cmd.source_component == cmd.target_component);
if (!cmd.from_external && !px4_internal_cmd && !target_system_internal) {
PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());