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74 lines
2.7 KiB
C++
74 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mavlink_commands.cpp
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* Mavlink commands stream implementation.
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include "mavlink_commands.h"
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MavlinkCommandsStream::MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel) :
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_cmd_sub(mavlink->add_orb_subscription(ORB_ID(vehicle_command))),
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_cmd{},
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_channel(channel),
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_cmd_time(0)
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{
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}
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void
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MavlinkCommandsStream::update(const hrt_abstime t)
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{
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struct vehicle_command_s cmd;
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if (_cmd_sub->update(&_cmd_time, &cmd)) {
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/* only send commands for other systems/components */
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if (cmd.target_system != mavlink_system.sysid || cmd.target_component != mavlink_system.compid) {
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mavlink_msg_command_long_send(_channel,
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cmd.target_system,
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cmd.target_component,
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cmd.command,
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cmd.confirmation,
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cmd.param1,
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cmd.param2,
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cmd.param3,
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cmd.param4,
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cmd.param5,
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cmd.param6,
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cmd.param7);
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}
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}
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}
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