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mavlink: implemented multicasting between mavlink instances (two options: forwarding: forward received messages from self to other mavlink instances, passing: send out messages received from other mavlink intances over serial

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Julian Oes
2014-04-18 22:05:45 +02:00
parent 3fa82675e7
commit 15defeb0f1
4 changed files with 236 additions and 6 deletions
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src/modules/mavlink/mavlink_messages.cpp
+4 -2
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@@ -1265,11 +1265,13 @@ protected:
|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
/* send camera capture on */
mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
/* XXX TODO: get param for system ID */
mavlink_msg_command_long_send(_channel, 42, 250, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
} else {
/* send camera capture off */
mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);
/* XXX TODO: get param for system ID */
mavlink_msg_command_long_send(_channel, 42, 250, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);
}
}
};