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Merge branch 'master' into navigator_rewrite_offboard2_merge

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Conflicts:
	mavlink/include/mavlink/v1.0/common/common.h
	src/modules/mavlink/mavlink_receiver.cpp
This commit is contained in:
Julian Oes
2014-07-02 14:59:43 +02:00
parent 40780e2916 28a31708f9
commit fdceb8b062
52 changed files with 4727 additions and 1004 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+29
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@@ -121,6 +121,9 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
memset(&hil_local_pos, 0, sizeof(hil_local_pos));
memset(&_control_mode, 0, sizeof(_control_mode));
// make sure the FTP server is started
(void)MavlinkFTP::getServer();
}
MavlinkReceiver::~MavlinkReceiver()
@@ -163,6 +166,14 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_heartbeat(msg);
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
handle_message_request_data_stream(msg);
break;
case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
MavlinkFTP::getServer()->handle_message(_mavlink, msg);
break;
default:
break;
}
@@ -468,6 +479,24 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{
mavlink_request_data_stream_t req;
mavlink_msg_request_data_stream_decode(msg, &req);
if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid) {
float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
MavlinkStream *stream;
LL_FOREACH(_mavlink->get_streams(), stream) {
if (req.req_stream_id == stream->get_id()) {
_mavlink->configure_stream_threadsafe(stream->get_name(), rate);
}
}
}
}
void
MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{