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

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Beat Küng
2016-10-19 13:13:47 +02:00
committed by Lorenz Meier
parent 326800e5a8
commit 8f5656f033
6 changed files with 28 additions and 13 deletions
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src/modules/mavlink/mavlink_ulog.cpp
+10 -3
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@@ -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;
}