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MAV_CMD_SET_MESSAGE_INTERVAL reject non-zero values for unused params (#23643)

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* MAV_CMD_SET_MESSAGE_INTERVAL reject non-zero values for unused params

* Remove data rate

* Replace rounding with addition of 0.5/0.5f
This commit is contained in:
Hamish Willee
2024-10-09 21:08:49 +13:00
committed by GitHub
parent 854086013c
commit 66b9e60a49
2 changed files with 10 additions and 7 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+8 -5
View File
@@ -593,12 +593,13 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
result = handle_request_message_command(MAVLINK_MSG_ID_STORAGE_INFORMATION);
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
if (set_message_interval((int)roundf(cmd_mavlink.param1), cmd_mavlink.param2, cmd_mavlink.param3)) {
if (set_message_interval((int)(cmd_mavlink.param1 + 0.5f), cmd_mavlink.param2, cmd_mavlink.param3, cmd_mavlink.param4,
(int)(vehicle_command.param5 + 0.5), (int)(vehicle_command.param6 + 0.5), (int)(vehicle_command.param7 + 0.5f))) {
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
}
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)roundf(cmd_mavlink.param1));
get_message_interval((int)(cmd_mavlink.param1 + 0.5f));
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) {
@@ -2273,14 +2274,16 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
}
int
MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate)
MavlinkReceiver::set_message_interval(int msgId, float interval, float param3, float param4, int param5, int param6,
int response_target)
{
if (msgId == MAVLINK_MSG_ID_HEARTBEAT) {
return PX4_ERROR;
}
if (data_rate > 0) {
_mavlink.set_data_rate(data_rate);
if ((int)(param3 + 0.5f) || (int)(param4 + 0.5f) || param5 || param6 || response_target) {
// At least one of the unsupported params is non-zero
return PX4_ERROR;
}
// configure_stream wants a rate (msgs/second), so convert here.
src/modules/mavlink/mavlink_receiver.h
+2 -2
View File
@@ -230,11 +230,11 @@ private:
*
* @param msgId The ID of the message interval to be set.
* @param interval The interval in usec to send the message.
* @param data_rate The total link data rate in bytes per second.
*
* @return PX4_OK on success, PX4_ERROR on fail.
*/
int set_message_interval(int msgId, float interval, int data_rate = -1);
int set_message_interval(int msgId, float interval, float param3 = 0.0f, float param4 = 0.0f, int param5 = 0,
int param6 = 0, int response_target = 0);
void get_message_interval(int msgId);
bool evaluate_target_ok(int command, int target_system, int target_component);