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MAVLink app: Do not accept config commands on wireless links when USB is connected

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This commit is contained in:
Lorenz Meier
2016-04-30 09:15:06 +02:00
parent 796af52df2
commit ae123d9e20
3 changed files with 44 additions and 14 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+18 -4
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@@ -155,13 +155,23 @@ MavlinkReceiver::~MavlinkReceiver()
void
MavlinkReceiver::handle_message(mavlink_message_t *msg)
{
if (!_mavlink->get_config_link_on()) {
if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_CONFIG) {
_mavlink->set_config_link_on(true);
}
}
switch (msg->msgid) {
case MAVLINK_MSG_ID_COMMAND_LONG:
handle_message_command_long(msg);
if (_mavlink->accepting_commands()) {
handle_message_command_long(msg);
}
break;
case MAVLINK_MSG_ID_COMMAND_INT:
handle_message_command_int(msg);
if (_mavlink->accepting_commands()) {
handle_message_command_int(msg);
}
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
@@ -173,7 +183,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_SET_MODE:
handle_message_set_mode(msg);
if (_mavlink->accepting_commands()) {
handle_message_set_mode(msg);
}
break;
case MAVLINK_MSG_ID_ATT_POS_MOCAP:
@@ -213,7 +225,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
handle_message_request_data_stream(msg);
if (_mavlink->accepting_commands()) {
handle_message_request_data_stream(msg);
}
break;
case MAVLINK_MSG_ID_SYSTEM_TIME: