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commander: handle_command: filter commands by sysid and componentid

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Thomas Gubler
2014-04-08 17:06:52 +02:00
committed by Julian Oes
parent 1c49f132a4
commit 03a3b1d671
1 changed files with 5 additions and 0 deletions
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src/modules/commander/commander.cpp
+5
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@@ -395,6 +395,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED;
bool ret = false;
/* only handle commands that are meant to be handled by this system and component */
if (cmd->target_system != status->system_id || cmd->target_component != status->component_id) {
return false;
}
/* only handle high-priority commands here */
/* request to set different system mode */