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mavlink temporary workarounds for dronekit: added parameters to disable (#10422)

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hash check and heartbeat forwarding

- hash check disabling: for systems where a companion link forwards messages
to QGC (e.g. via LTE) parameter streaming will be stopped as soon as QGC
sends the request to stop the stream. If the companion side for some reason
still requires the stream to be active we need to disable QGC from stopping
the stream. Normally dronekit should be responsible for filtering out the
request from QGC but apparently this is not possible.

- disable heartbeat forwarding: dronekit does seem to get confused if
heartbeats from another system other than the autopilot get forwarded to it.
Example: Sending messages from QGC via the autopilot to dronekit running on
companion computer.

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2018-09-17 13:24:20 -04:00
committed by Daniel Agar
parent c1df899b6f
commit f361749d70
4 changed files with 32 additions and 3 deletions
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src/modules/mavlink/mavlink_parameters.cpp
+1 -1
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@@ -134,7 +134,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* Whatever the value is, we're being told to stop sending */
if (strncmp(name, "_HASH_CHECK", sizeof(name)) == 0) {
if (strncmp(name, "_HASH_CHECK", sizeof(name)) == 0 && _mavlink->hash_check_enabled()) {
_send_all_index = -1;
/* No other action taken, return */
return;