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mavlink: Safely avoid send the same vehicle_command and vehicle_command_ack back

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The previous approach was checking system id and component id but it
will not work in 100% of cases as external devices can send MAVLink
message with the right system id but with broadcast component id.
This commit is contained in:
José Roberto de Souza
2017-07-13 15:11:51 -07:00
committed by Lorenz Meier
parent 89a428fbfe
commit 7c268f4fa1
5 changed files with 16 additions and 9 deletions
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msg/vehicle_command.msg
+1
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@@ -104,3 +104,4 @@ uint8 target_component # Component which should execute the command, 0 for all
uint8 source_system # System sending the command
uint8 source_component # Component sending the command
uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
uint8 from_external
msg/vehicle_command_ack.msg
+1
View File
@@ -8,3 +8,4 @@ uint32 ORB_QUEUE_LENGTH = 3
uint16 command
uint8 result
uint8 from_external