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mavlink_receiver: limit access through instances with gimbal mode

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This adds explicit handling for the few things we want to allow through a MAVLink instance dedicated to a gimbal/(camera) payload as per the MAVLink gimbal mode configuration.
This commit is contained in:
Matthias Grob 2024-08-09 16:13:44 +02:00 committed by GitHub
parent 3f17f15505
commit fdfe43471e
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GPG Key ID: B5690EEEBB952194
2 changed files with 39 additions and 1 deletions
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39
src/modules/mavlink/mavlink_receiver.cpp
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@ -406,6 +406,34 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
_mavlink.handle_message(msg);
}
void MavlinkReceiver::handle_messages_in_gimbal_mode(mavlink_message_t &msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
handle_message_heartbeat(&msg);
break;
case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE:
handle_message_gimbal_manager_set_attitude(&msg);
break;
case MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_MANUAL_CONTROL:
handle_message_gimbal_manager_set_manual_control(&msg);
break;
case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION:
handle_message_gimbal_device_information(&msg);
break;
case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS:
handle_message_gimbal_device_attitude_status(&msg);
break;
}
// Message forwarding
_mavlink.handle_message(&msg);
}
bool
MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_component)
{
@ -3176,7 +3204,16 @@ MavlinkReceiver::run()
_mavlink.set_proto_version(2);
}
handle_message(&msg);
switch (_mavlink.get_mode()) {
case Mavlink::MAVLINK_MODE::MAVLINK_MODE_GIMBAL:
handle_messages_in_gimbal_mode(msg);
break;
default:
handle_message(&msg);
break;
}
_mavlink.set_has_received_messages(true); // Received first message, unlock wait to transmit '-w' command-line flag
update_rx_stats(msg);

1
src/modules/mavlink/mavlink_receiver.h
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@ -155,6 +155,7 @@ private:
float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
void handle_message(mavlink_message_t *msg);
void handle_messages_in_gimbal_mode(mavlink_message_t &msg);
void handle_message_adsb_vehicle(mavlink_message_t *msg);
void handle_message_att_pos_mocap(mavlink_message_t *msg);