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Merge pull request #1964 from matt-beall/pingMessages

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Ping messages
This commit is contained in:
Lorenz Meier 2015-03-31 11:39:54 -07:00
commit 4a60fef4c0
2 changed files with 18 additions and 0 deletions
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17
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -157,6 +157,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_optical_flow_rad(msg);
break;
case MAVLINK_MSG_ID_PING:
handle_message_ping(msg);
break;
case MAVLINK_MSG_ID_SET_MODE:
handle_message_set_mode(msg);
break;
@ -946,6 +950,19 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_ping(mavlink_message_t *msg)
{
mavlink_ping_t ping;
mavlink_msg_ping_decode( msg, &ping);
if ((mavlink_system.sysid == ping.target_system) &&
(mavlink_system.compid == ping.target_component)) {
mavlink_message_t msg_out;
mavlink_msg_ping_encode(_mavlink->get_system_id(), _mavlink->get_component_id(), &msg_out, &ping);
_mavlink->send_message(MAVLINK_MSG_ID_PING, &msg_out);
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{

1
src/modules/mavlink/mavlink_receiver.h
View File

@ -127,6 +127,7 @@ private:
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_heartbeat(mavlink_message_t *msg);
void handle_message_ping(mavlink_message_t *msg);
void handle_message_request_data_stream(mavlink_message_t *msg);
void handle_message_system_time(mavlink_message_t *msg);
void handle_message_timesync(mavlink_message_t *msg);