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mavlink receiver remove undocumented CMD_PREFLIGHT_REBOOT_SHUTDOWN link shutdown (#8008)

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This commit is contained in:
Daniel Agar
2017-09-25 11:09:16 -04:00
committed by GitHub
parent 4e0ddf86e1
commit 420df9d88a
1 changed files with 2 additions and 34 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -34
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@@ -405,8 +405,6 @@ MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_c
switch (command) { switch (command) {
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
/* fallthrough */
case MAV_CMD_REQUEST_PROTOCOL_VERSION: case MAV_CMD_REQUEST_PROTOCOL_VERSION:
/* broadcast and ignore component */ /* broadcast and ignore component */
target_ok = (target_system == 0) || (target_system == mavlink_system.sysid); target_ok = (target_system == 0) || (target_system == mavlink_system.sysid);
@@ -461,22 +459,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
return; return;
} }
//check for MAVLINK terminate command if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN) {
int cmd_id = int(cmd_mavlink.param1);
if (cmd_id == 10) {
/* This is the link shutdown command, terminate mavlink */
PX4_WARN("terminated by remote");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
_mavlink->_task_should_exit = true;
}
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
/* send autopilot version message */ /* send autopilot version message */
_mavlink->send_autopilot_capabilites(); _mavlink->send_autopilot_capabilites();
@@ -567,22 +550,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
return; return;
} }
//check for MAVLINK terminate command if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN) {
int cmd_id = int(cmd_mavlink.param1);
if (cmd_id == 10) {
/* This is the link shutdown command, terminate mavlink */
PX4_WARN("terminated by remote");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
_mavlink->_task_should_exit = true;
}
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
/* send autopilot version message */ /* send autopilot version message */
_mavlink->send_autopilot_capabilites(); _mavlink->send_autopilot_capabilites();