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ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage

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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
This commit is contained in:
Daniel Agar
2021-03-05 18:25:14 -05:00
committed by GitHub
parent 12a4b0334f
commit 263b00b65f
21 changed files with 212 additions and 118 deletions
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src/modules/mavlink/mavlink_command_sender.cpp
+6 -1
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@@ -65,8 +65,13 @@ MavlinkCommandSender::~MavlinkCommandSender()
px4_sem_destroy(&_lock);
}
int MavlinkCommandSender::handle_vehicle_command(const struct vehicle_command_s &command, mavlink_channel_t channel)
int MavlinkCommandSender::handle_vehicle_command(const vehicle_command_s &command, mavlink_channel_t channel)
{
// commands > uint16 are PX4 internal only
if (command.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
return 0;
}
lock();
CMD_DEBUG("new command: %d (channel: %d)", command.command, channel);