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added AUTOPILOT_VERSION and PROTOCOL_VERSION streams

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This commit is contained in:
David Jablonski
2020-06-03 17:57:12 +02:00
committed by Julian Oes
parent aef2a5755e
commit e1f4a70c0e
7 changed files with 134 additions and 13 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -9
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@@ -435,15 +435,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
return;
}
if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
/* send autopilot version message */
_mavlink->send_autopilot_capabilites();
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) {
/* send protocol version message */
_mavlink->send_protocol_version();
} else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
_mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f);
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {