fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 22:49:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

MAV_CMD_REQUEST_MESSAGE support for MESSAGE_INTERVAL (#25460)

Browse Source 
* MAV_CMD_REQUEST_MESSAGE support for MESSAGE_INTERVAL

* Default should be -1 for stream

* Format

---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>
This commit is contained in:
Hamish Willee 2025-08-20 15:07:44 +10:00 committed by GitHub
parent eeaf1d7959
commit 71b8e299fd
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 10 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -593,9 +593,15 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) {
uint16_t message_id = (uint16_t)roundf(vehicle_command.param1);
result = handle_request_message_command(message_id,
vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
if (message_id == MAVLINK_MSG_ID_MESSAGE_INTERVAL) {
get_message_interval((int)(cmd_mavlink.param2 + 0.5f));
} else {
result = handle_request_message_command(message_id,
vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
}
} else if (cmd_mavlink.command == MAV_CMD_INJECT_FAILURE) {
if (_mavlink.failure_injection_enabled()) {
@ -2287,7 +2293,7 @@ MavlinkReceiver::set_message_interval(int msgId, float interval, float param3, f
void
MavlinkReceiver::get_message_interval(int msgId)
{
unsigned interval = 0;
int interval = -1;
for (const auto &stream : _mavlink.get_streams()) {
if (stream->get_id() == msgId) {