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mavlink: COMMAND_INT receiver reject unsupported MAV_FRAMEs

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Daniel Agar 2024-05-01 19:34:07 -04:00 committed by Matthias Grob
parent ed35155b50
commit 3bd14fcb16
1 changed files with 6 additions and 2 deletions
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8
src/modules/mavlink/mavlink_receiver.cpp
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@ -477,14 +477,18 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
vcmd.frame = vehicle_command_s::FRAME_GLOBAL;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
// FALLTHROUGH
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
vcmd.frame = vehicle_command_s::FRAME_GLOBAL_RELATIVE_ALT;
break;
default:
vcmd.frame = vehicle_command_s::FRAME_UNKNOWN;
PX4_WARN("invalid frame %" PRIu8 " for command %" PRIu16, cmd_mavlink.frame, cmd_mavlink.command);
break;
PX4_ERR("invalid frame %" PRIu8 " for command %" PRIu16, cmd_mavlink.frame, cmd_mavlink.command);
acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
return;
}
if (cmd_mavlink.x == INT32_MAX && cmd_mavlink.y == INT32_MAX) {