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Enable logging of mavlink tunnel messages

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Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
This commit is contained in:
Roman Dvořák
2022-01-26 17:10:43 +01:00
committed by GitHub
parent ae3070bbf1
commit c8349811d1
7 changed files with 63 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+24
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@@ -245,6 +245,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_obstacle_distance(msg);
break;
case MAVLINK_MSG_ID_TUNNEL:
handle_message_tunnel(msg);
break;
case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER:
handle_message_trajectory_representation_bezier(msg);
break;
@@ -1895,6 +1899,26 @@ MavlinkReceiver::handle_message_obstacle_distance(mavlink_message_t *msg)
_obstacle_distance_pub.publish(obstacle_distance);
}
void
MavlinkReceiver::handle_message_tunnel(mavlink_message_t *msg)
{
mavlink_tunnel_t mavlink_tunnel;
mavlink_msg_tunnel_decode(msg, &mavlink_tunnel);
mavlink_tunnel_s tunnel{};
tunnel.timestamp = hrt_absolute_time();
tunnel.payload_type = mavlink_tunnel.payload_type;
tunnel.target_system = mavlink_tunnel.target_system;
tunnel.target_component = mavlink_tunnel.target_component;
tunnel.payload_length = mavlink_tunnel.payload_length;
memcpy(tunnel.payload, mavlink_tunnel.payload, sizeof(tunnel.payload));
static_assert(sizeof(tunnel.payload) == sizeof(mavlink_tunnel.payload), "mavlink_tunnel.payload size mismatch");
_mavlink_tunnel_pub.publish(tunnel);
}
void
MavlinkReceiver::handle_message_trajectory_representation_bezier(mavlink_message_t *msg)
{