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commander: handle system broadcast commands

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This changes the command handling logic to accept commands which are
targeted at any system, signaled by target_system set to 0.
This commit is contained in:
Julian Oes
2021-12-01 14:40:52 +01:00
committed by Daniel Agar
parent a2064cceff
commit a9b9362fea
1 changed files with 3 additions and 3 deletions
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src/modules/commander/Commander.cpp
+3 -3
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@@ -713,9 +713,9 @@ Commander::Commander() :
bool bool
Commander::handle_command(const vehicle_command_s &cmd) Commander::handle_command(const vehicle_command_s &cmd)
{ {
/* only handle commands that are meant to be handled by this system and component */ /* only handle commands that are meant to be handled by this system and component, or broadcast */
if (cmd.target_system != _status.system_id || ((cmd.target_component != _status.component_id) if (((cmd.target_system != _status.system_id) && (cmd.target_system != 0))
&& (cmd.target_component != 0))) { // component_id 0: valid for all components || ((cmd.target_component != _status.component_id) && (cmd.target_component != 0))) {
return false; return false;
} }