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Merge branch 'master' into dataman_state_nav_rewrite

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This commit is contained in:
Anton Babushkin
2014-06-30 12:31:06 +02:00
parent 72071cdcd3 857b843d44
commit 1a6b2b9c1e
66 changed files with 3938 additions and 1035 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+22
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@@ -158,6 +158,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_heartbeat(msg);
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
handle_message_request_data_stream(msg);
break;
case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
MavlinkFTP::getServer()->handle_message(_mavlink, msg);
break;
@@ -497,6 +501,24 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{
mavlink_request_data_stream_t req;
mavlink_msg_request_data_stream_decode(msg, &req);
if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid) {
float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
MavlinkStream *stream;
LL_FOREACH(_mavlink->get_streams(), stream) {
if (req.req_stream_id == stream->get_id()) {
_mavlink->configure_stream_threadsafe(stream->get_name(), rate);
}
}
}
}
void
MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{