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MAVLink app: Enable protocol version handshaking

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This allows the ground control station or any other communication partner to query the supported versions. The key aspect is to send the response in MAVLink 2 framing to test the link with a MAVLink 2 framed message.
This commit is contained in:
Lorenz Meier
2017-06-04 16:14:00 +08:00
parent 990ae93cae
commit 8c3b90007c
3 changed files with 37 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+7
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@@ -362,6 +362,9 @@ MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_c
switch (command) {
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
/* fallthrough */
case MAV_CMD_REQUEST_PROTOCOL_VERSION:
/* broadcast and ignore component */
target_ok = (target_system == 0) || (target_system == mavlink_system.sysid);
break;
@@ -406,6 +409,10 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
/* send autopilot version message */
_mavlink->send_autopilot_capabilites();
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) {
/* send protocol version message */
_mavlink->send_protocol_version();
} else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
_mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f);