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mavlink: add support for PLAY_TUNE_V2

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This commit is contained in:
Julian Oes 2019-11-04 11:39:35 +01:00 committed by Beat Küng
parent 5f676b6795
commit 6f707bf7b5
2 changed files with 27 additions and 1 deletions
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27
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -238,6 +238,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_play_tune(msg);
break;
case MAVLINK_MSG_ID_PLAY_TUNE_V2:
handle_message_play_tune_v2(msg);
break;
case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
handle_message_obstacle_distance(msg);
break;
@ -1762,13 +1766,34 @@ MavlinkReceiver::handle_message_play_tune(mavlink_message_t *msg)
if ((mavlink_system.sysid == play_tune.target_system || play_tune.target_system == 0) &&
(mavlink_system.compid == play_tune.target_component || play_tune.target_component == 0)) {
// Let's make sure the input is 0 terminated and we don't ever overrun it.
// Let's make sure the input is 0 terminated, so we don't ever overrun it.
play_tune.tune2[sizeof(play_tune.tune2) - 1] = '\0';
publish_tune(play_tune.tune);
}
}
void
MavlinkReceiver::handle_message_play_tune_v2(mavlink_message_t *msg)
{
mavlink_play_tune_v2_t play_tune_v2;
mavlink_msg_play_tune_v2_decode(msg, &play_tune_v2);
if ((mavlink_system.sysid == play_tune_v2.target_system || play_tune_v2.target_system == 0) &&
(mavlink_system.compid == play_tune_v2.target_component || play_tune_v2.target_component == 0)) {
if (play_tune_v2.format != TUNE_FORMAT_QBASIC1_1) {
PX4_ERR("Tune format %d not supported", play_tune_v2.format);
return;
}
// Let's make sure the input is 0 terminated, so we don't ever overrun it.
play_tune_v2.tune[sizeof(play_tune_v2.tune) - 1] = '\0';
publish_tune(play_tune_v2.tune);
}
}
void MavlinkReceiver::publish_tune(const char *tune)
{

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

@ -159,6 +159,7 @@ private:
void handle_message_optical_flow_rad(mavlink_message_t *msg);
void handle_message_ping(mavlink_message_t *msg);
void handle_message_play_tune(mavlink_message_t *msg);
void handle_message_play_tune_v2(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_rc_channels_override(mavlink_message_t *msg);
void handle_message_serial_control(mavlink_message_t *msg);