Mirrors_Framework/PX4-Autopilot
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Allow relaying from same system ID or with target component 0

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This commit is contained in:
sanderux
2017-07-23 16:16:41 +02:00
committed by Sander Smeets
parent 9124617315
commit 7612b94c72
2 changed files with 12 additions and 20 deletions
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posix-configs/SITL/init/ekf2/standard_vtol
+2 -2
View File
@@ -79,8 +79,8 @@ mc_att_control start
fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink start -u 14556 -r 2000000 -f
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
src/modules/mavlink/mavlink_main.cpp
+10 -18
View File
@@ -520,35 +520,27 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
void
Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
{
Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) {
if (inst != self) {
const mavlink_msg_entry_t *meta = mavlink_get_msg_entry(msg->msgid);
// Onboard links should pass all messages to the ground
// which originate from the same system.
// Offboard links should pass all messages from any system.
if ((self->_mode == MAVLINK_MODE_NORMAL)
|| ((self->_mode != MAVLINK_MODE_NORMAL) && msg->sysid != mavlink_system.sysid)) {
// Extract target system and target component if set
unsigned target_system_id = (meta->target_system_ofs != 0) ? ((uint8_t *)msg)[meta->target_system_ofs] : 0;
unsigned target_component_id = (meta->target_component_ofs != 0) ? ((uint8_t *)msg)[meta->target_component_ofs] : 233;
const mavlink_msg_entry_t *meta = mavlink_get_msg_entry(msg->msgid);
// Broadcast or addressing this system and not trying to talk
// to the autopilot component -> pass on to other components
if ((target_system_id == 0 || target_system_id == self->get_system_id())
&& (target_component_id == 0 || target_component_id != self->get_component_id())) {
// Extract target system and target component if set
unsigned target_system_id = (meta->target_system_ofs != 0) ? ((uint8_t *)msg)[meta->target_system_ofs] : 0;
unsigned target_component_id = (meta->target_component_ofs != 0) ? ((uint8_t *)msg)[meta->target_component_ofs] : 0;
// Broadcast or addressing this system and not trying to talk
// to the autopilot component -> pass on to other components
if ((target_system_id == 0 || target_system_id == self->get_system_id())
&& (target_component_id != self->get_component_id())) {
inst->pass_message(msg);
}
inst->pass_message(msg);
}
}
}
}
int
Mavlink::get_uart_fd(unsigned index)
{