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mavlink: Safely avoid send the same vehicle_command and vehicle_command_ack back

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The previous approach was checking system id and component id but it
will not work in 100% of cases as external devices can send MAVLink
message with the right system id but with broadcast component id.
This commit is contained in:
José Roberto de Souza
2017-08-08 21:46:30 +02:00
committed by Lorenz Meier
parent 89a428fbfe
commit 7c268f4fa1
5 changed files with 16 additions and 9 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+6
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@@ -473,6 +473,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
vcmd.confirmation = cmd_mavlink.confirmation;
vcmd.from_external = 1;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
@@ -581,6 +583,8 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
vcmd.source_component = msg->compid;
vcmd.from_external = 1;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
@@ -624,6 +628,7 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
command_ack.command = ack.command;
command_ack.result = ack.result;
command_ack.timestamp = hrt_absolute_time();
command_ack.from_external = 1;
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -779,6 +784,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
vcmd.timestamp = hrt_absolute_time();
vcmd.from_external = 1;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);