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check sysid and compid for external setpoint

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This commit is contained in:
Thomas Gubler
2014-07-03 15:00:32 +02:00
parent 839710daf8
commit cbd602c27c
1 changed files with 11 additions and 9 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+11 -9
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@@ -406,18 +406,20 @@ MavlinkReceiver::handle_message_local_ned_position_setpoint_external(mavlink_mes
struct offboard_control_setpoint_s offboard_control_sp;
memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));
//XXX check if target system/component is correct
if (mavlink_system.sysid == local_ned_position_setpoint_external.target_system &&
mavlink_system.compid == local_ned_position_setpoint_external.target_component) {
/* convert mavlink type (local, NED) to uORB offboard control struct */
//XXX do the conversion
//
offboard_control_sp.timestamp = hrt_absolute_time();
/* convert mavlink type (local, NED) to uORB offboard control struct */
//XXX do the conversion
//
offboard_control_sp.timestamp = hrt_absolute_time();
if (_offboard_control_sp_pub < 0) {
_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
if (_offboard_control_sp_pub < 0) {
_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
} else {
orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
}
}
}