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mavlink: add a shell using SERIAL_CONTROL MAVLink message

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This commit is contained in:
Beat Küng
2016-07-29 13:07:17 +02:00
committed by Lorenz Meier
parent 78a9472b25
commit 2241ab9cac
7 changed files with 349 additions and 3 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+30
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@@ -263,6 +263,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_battery_status(msg);
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_message_serial_control(msg);
break;
default:
break;
}
@@ -1191,6 +1195,32 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_serial_control(mavlink_message_t *msg)
{
mavlink_serial_control_t serial_control_mavlink;
mavlink_msg_serial_control_decode(msg, &serial_control_mavlink);
// we only support shell commands
if (serial_control_mavlink.device != SERIAL_CONTROL_DEV_SHELL
|| (serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_REPLY)) {
return;
}
MavlinkShell* shell = _mavlink->get_shell();
if (shell) {
// we ignore the timeout, EXCLUSIVE & BLOCKING flags of the SERIAL_CONTROL message
if (serial_control_mavlink.count > 0) {
shell->write(serial_control_mavlink.data, serial_control_mavlink.count);
}
// if no response requested, assume the shell is no longer used
if ((serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_RESPOND) == 0) {
_mavlink->close_shell();
}
}
}
switch_pos_t
MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
{