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mavlink log if camera unsuccessful

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ChristophTobler 2017-06-12 10:39:39 +02:00 committed by Lorenz Meier
parent b42c1123a2
commit a5e435808f
2 changed files with 18 additions and 0 deletions
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17
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -188,6 +188,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_COMMAND_ACK:
handle_message_command_ack(msg);
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
handle_message_optical_flow_rad(msg);
break;
@ -613,6 +617,19 @@ out:
}
}
void
MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
{
mavlink_command_ack_t ack;
mavlink_msg_command_ack_decode(msg, &ack);
if (ack.result != MAV_RESULT_ACCEPTED && ack.result != MAV_RESULT_IN_PROGRESS) {
if (msg->compid == MAV_COMP_ID_CAMERA) {
PX4_WARN("Got unsuccessful result %d from camera", ack.result);
}
}
}
void
MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
{

1
src/modules/mavlink/mavlink_receiver.h
View File

@ -118,6 +118,7 @@ private:
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
void handle_message_command_int(mavlink_message_t *msg);
void handle_message_command_ack(mavlink_message_t *msg);
void handle_message_optical_flow_rad(mavlink_message_t *msg);
void handle_message_hil_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);