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_pos_control_l1 start
fw_att_control start fw_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000 mavlink start -u 14556 -r 2000000 -f
mavlink start -u 14557 -r 2000000 -m onboard -o 14540 mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -f
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557 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 POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
src/modules/mavlink/mavlink_main.cpp
+3 -11
View File
@@ -520,34 +520,26 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
void void
Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self) Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
{ {
Mavlink *inst; Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) { LL_FOREACH(_mavlink_instances, inst) {
if (inst != self) { if (inst != self) {
// 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)) {
const mavlink_msg_entry_t *meta = mavlink_get_msg_entry(msg->msgid); const mavlink_msg_entry_t *meta = mavlink_get_msg_entry(msg->msgid);
// Extract target system and target component if set // 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_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; unsigned target_component_id = (meta->target_component_ofs != 0) ? ((uint8_t *)msg)[meta->target_component_ofs] : 233;
// Broadcast or addressing this system and not trying to talk // Broadcast or addressing this system and not trying to talk
// to the autopilot component -> pass on to other components // to the autopilot component -> pass on to other components
if ((target_system_id == 0 || target_system_id == self->get_system_id()) if ((target_system_id == 0 || target_system_id == self->get_system_id())
&& (target_component_id != self->get_component_id())) { && (target_component_id == 0 || target_component_id != self->get_component_id())) {
inst->pass_message(msg); inst->pass_message(msg);
} }
} }
} }
} }
}
int int
Mavlink::get_uart_fd(unsigned index) Mavlink::get_uart_fd(unsigned index)