mavlink ulog: add target sys & component ids (update to changed mavlink message)

src/modules/mavlink/mavlink_main.h

@@ -438,9 +438,9 @@ public:
 
 	/** get ulog streaming if active, nullptr otherwise */
 	MavlinkULog		*get_ulog_streaming() { return _mavlink_ulog; }
-	void			try_start_ulog_streaming() {
+	void			try_start_ulog_streaming(uint8_t target_system, uint8_t target_component) {
 		if (_mavlink_ulog) { return; }
-		_mavlink_ulog = MavlinkULog::try_start();
+		_mavlink_ulog = MavlinkULog::try_start(target_system, target_component);
 	}
 	void			request_stop_ulog_streaming() {
 		if (_mavlink_ulog) { _mavlink_ulog_stop_requested = true; }

src/modules/mavlink/mavlink_receiver.cpp

@@ -389,7 +389,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 				// mavlink channel streaming was requested. But in fact it's possible that the logger is
 				// not even running. The main mavlink thread takes care of this by waiting for an ack
 				// from the logger.
-				_mavlink->try_start_ulog_streaming();
+				_mavlink->try_start_ulog_streaming(msg->sysid, msg->compid);
 			} else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) {
 				_mavlink->request_stop_ulog_streaming();
 			}

src/modules/mavlink/mavlink_ulog.cpp

@@ -47,7 +47,8 @@ MavlinkULog *MavlinkULog::_instance = nullptr;
 sem_t MavlinkULog::_lock;
 
 
-MavlinkULog::MavlinkULog()
+MavlinkULog::MavlinkULog(uint8_t target_system, uint8_t target_component)
+	: _target_system(target_system), _target_component(target_component)
 {
 	_ulog_stream_sub = orb_subscribe(ORB_ID(ulog_stream));
 
@@ -107,6 +108,8 @@ int MavlinkULog::handle_update(mavlink_channel_t channel)
 					msg.sequence = _ulog_data.sequence;
 					msg.length = _ulog_data.length;
 					msg.first_message_offset = _ulog_data.first_message_offset;
+					msg.target_system = _target_system;
+					msg.target_component = _target_component;
 					memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
 					mavlink_msg_logging_data_acked_send_struct(channel, &msg);
 				}
@@ -134,6 +137,8 @@ int MavlinkULog::handle_update(mavlink_channel_t channel)
 			msg.sequence = _ulog_data.sequence;
 			msg.length = _ulog_data.length;
 			msg.first_message_offset = _ulog_data.first_message_offset;
+			msg.target_system = _target_system;
+			msg.target_component = _target_component;
 			memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
 			mavlink_msg_logging_data_acked_send_struct(channel, &msg);
 
@@ -142,6 +147,8 @@ int MavlinkULog::handle_update(mavlink_channel_t channel)
 			msg.sequence = _ulog_data.sequence;
 			msg.length = _ulog_data.length;
 			msg.first_message_offset = _ulog_data.first_message_offset;
+			msg.target_system = _target_system;
+			msg.target_component = _target_component;
 			memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
 			mavlink_msg_logging_data_send_struct(channel, &msg);
 		}
@@ -160,13 +167,13 @@ void MavlinkULog::initialize()
 	_init = true;
 }
 
-MavlinkULog* MavlinkULog::try_start()
+MavlinkULog* MavlinkULog::try_start(uint8_t target_system, uint8_t target_component)
 {
 	MavlinkULog *ret = nullptr;
 	bool failed = false;
 	lock();
 	if (!_instance) {
-		ret = _instance = new MavlinkULog();
+		ret = _instance = new MavlinkULog(target_system, target_component);
 		if (!_instance) {
 			failed = true;
 		}

src/modules/mavlink/mavlink_ulog.h

@@ -68,7 +68,7 @@ public:
 	 * thread-safe
 	 * @return instance, or nullptr
 	 */
-	static MavlinkULog *try_start();
+	static MavlinkULog *try_start(uint8_t target_system, uint8_t target_component);
 
 	/**
 	 * stop the stream. It also deletes the singleton object, so make sure cleanup
@@ -91,7 +91,7 @@ public:
 
 private:
 
-	MavlinkULog();
+	MavlinkULog(uint8_t target_system, uint8_t target_component);
 
 	~MavlinkULog();
 
@@ -119,6 +119,9 @@ private:
 	hrt_abstime _last_sent_time = 0; ///< last time we sent a message that requires an ack
 	ulog_stream_s _ulog_data;
 	bool _waiting_for_initial_ack = false;
+	const uint8_t _target_system;
+	const uint8_t _target_component;
+
 
 	/* do not allow copying this class */
 	MavlinkULog(const MavlinkULog &) = delete;