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Merge pull request #815 from PX4/commander_handle_command

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commander: handle_command: filter commands by sysid and componentid
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Lorenz Meier
2014-04-08 08:42:28 -07:00
parent 0930a3c1b6 bccdbde45e
commit 13be060dae
1 changed files with 5 additions and 0 deletions
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src/modules/commander/commander.cpp
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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) && (cmd->target_component != 0))) { // component_id 0: valid for all components
return false;
}
/* only handle high-priority commands here */
/* request to set different system mode */