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mavlink external sp: accept 0 sysid and compid

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Thomas Gubler
2014-07-15 14:19:13 +02:00
parent e162178f35
commit 596850e9f5
1 changed files with 10 additions and 4 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+10 -4
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@@ -410,8 +410,11 @@ MavlinkReceiver::handle_message_local_ned_position_setpoint_external(mavlink_mes
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));//XXX breaks compatibility with multiple setpoints
if (mavlink_system.sysid == local_ned_position_setpoint_external.target_system &&
mavlink_system.compid == local_ned_position_setpoint_external.target_component) {
/* Only accept messages which are intended for this system */
if ((mavlink_system.sysid == local_ned_position_setpoint_external.target_system ||
local_ned_position_setpoint_external.target_system == 0) &&
(mavlink_system.compid == local_ned_position_setpoint_external.target_component ||
local_ned_position_setpoint_external.target_component == 0)) {
/* convert mavlink type (local, NED) to uORB offboard control struct */
switch (local_ned_position_setpoint_external.coordinate_frame) {
@@ -482,8 +485,11 @@ MavlinkReceiver::handle_message_attitude_setpoint_external(mavlink_message_t *ms
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); //XXX breaks compatibility with multiple setpoints
if (mavlink_system.sysid == attitude_setpoint_external.target_system &&
mavlink_system.compid == attitude_setpoint_external.target_component) {
/* Only accept messages which are intended for this system */
if ((mavlink_system.sysid == attitude_setpoint_external.target_system ||
local_ned_position_setpoint_external.target_system == 0) &&
(mavlink_system.compid == local_ned_position_setpoint_external.target_component ||
local_ned_position_setpoint_external.target_component == 0)) {
for (int i = 0; i < 4; i++) {
offboard_control_sp.attitude[i] = attitude_setpoint_external.q[i];
}