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This commit is contained in:
Lorenz Meier
2015-10-14 22:07:49 +02:00
parent 7dacb835b9 dbcb226de6
commit b126f00052
39 changed files with 530 additions and 318 deletions
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src/modules/mavlink/mavlink_mission.cpp
+4 -5
View File
@@ -779,13 +779,12 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->altitude_is_relative = true;
break;
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_ENU:
return MAV_MISSION_UNSUPPORTED_FRAME;
case MAV_FRAME_MISSION:
// This is a mission item with no coordinate
break;
default:
return MAV_MISSION_ERROR;
return MAV_MISSION_UNSUPPORTED_FRAME;
}
switch (mavlink_mission_item->command) {
src/modules/mavlink/mavlink_parameters.cpp
+22 -7
View File
@@ -49,6 +49,7 @@
ORB_DEFINE(uavcan_parameter_request, struct uavcan_parameter_request_s);
ORB_DEFINE(uavcan_parameter_value, struct uavcan_parameter_value_s);
#define HASH_PARAM "_HASH_CHECK"
MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
_send_all_index(-1),
@@ -163,13 +164,27 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
/* when no index is given, loop through string ids and compare them */
if (req_read.param_index < 0) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
strncpy(name, req_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter and send it */
send_param(param_find_no_notification(name));
if (strncmp(req_read.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN) == 0) {
/* return hash check for cached params */
uint32_t hash = param_hash_check();
/* build the one-off response message */
mavlink_param_value_t msg;
msg.param_count = param_count_used();
msg.param_index = -1;
strncpy(msg.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
msg.param_type = MAV_PARAM_TYPE_UINT32;
memcpy(&msg.param_value, &hash, sizeof(hash));
_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
} else {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
strncpy(name, req_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter and send it */
send_param(param_find_no_notification(name));
}
} else {
/* when index is >= 0, send this parameter again */