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Mavlink: Use UUID for identifier in UTM_GLOBAL_POSITION

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Michael Schaeuble
2018-11-22 16:55:30 +01:00
committed by Lorenz Meier
parent 33a9eb946a
commit a154282fef
1 changed files with 8 additions and 1 deletions
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src/modules/mavlink/mavlink_messages.cpp
+8 -1
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@@ -1775,9 +1775,16 @@ protected:
msg.flags |= UTM_DATA_AVAIL_FLAGS_TIME_VALID; msg.flags |= UTM_DATA_AVAIL_FLAGS_TIME_VALID;
} }
#ifndef BOARD_HAS_NO_UUID
px4_guid_t px4_guid;
board_get_px4_guid(px4_guid);
static_assert(sizeof(px4_guid_t) == sizeof(msg.uas_id), "GUID byte length mismatch");
memcpy(&msg.uas_id, &px4_guid, sizeof(msg.uas_id));
msg.flags |= UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE;
#else
// TODO Fill ID with something reasonable // TODO Fill ID with something reasonable
memset(&msg.uas_id[0], 0, sizeof(msg.uas_id)); memset(&msg.uas_id[0], 0, sizeof(msg.uas_id));
//msg.flags |= UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE; #endif /* BOARD_HAS_NO_UUID */
// Handle global position // Handle global position
if (_global_pos_time > 0) { if (_global_pos_time > 0) {