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mavlink: mavlink main vehicle_commands only handled in iridium mode

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This commit is contained in:
Daniel Agar
2021-03-11 14:17:12 -05:00
parent eef304110d
commit b0a4f35024
1 changed files with 39 additions and 36 deletions
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src/modules/mavlink/mavlink_main.cpp
+39 -36
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@@ -2247,45 +2247,48 @@ Mavlink::task_main(int argc, char *argv[])
// vehicle_command // vehicle_command
while (_vehicle_command_sub.updated()) { if (_mode == MAVLINK_MODE_IRIDIUM) {
const unsigned last_generation = _vehicle_command_sub.get_last_generation(); while (_vehicle_command_sub.updated()) {
vehicle_command_s vehicle_cmd; const unsigned last_generation = _vehicle_command_sub.get_last_generation();
vehicle_command_s vehicle_cmd;
if (_vehicle_command_sub.update(&vehicle_cmd)) { if (_vehicle_command_sub.update(&vehicle_cmd)) {
if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { if (_vehicle_command_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("vehicle_command lost, generation %d -> %d", last_generation, _vehicle_command_sub.get_last_generation()); PX4_ERR("vehicle_command lost, generation %d -> %d", last_generation, _vehicle_command_sub.get_last_generation());
}
if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) &&
(_mode == MAVLINK_MODE_IRIDIUM)) {
if (vehicle_cmd.param1 > 0.5f) {
if (!_transmitting_enabled) {
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command",
_device_name);
}
_transmitting_enabled = true;
_transmitting_enabled_commanded = true;
} else {
if (_transmitting_enabled) {
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command",
_device_name);
}
_transmitting_enabled = false;
_transmitting_enabled_commanded = false;
} }
// send positive command ack if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) &&
vehicle_command_ack_s command_ack{}; _mode == MAVLINK_MODE_IRIDIUM) {
command_ack.command = vehicle_cmd.command;
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED; if (vehicle_cmd.param1 > 0.5f) {
command_ack.from_external = !vehicle_cmd.from_external; if (!_transmitting_enabled) {
command_ack.target_system = vehicle_cmd.source_system; mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command",
command_ack.target_component = vehicle_cmd.source_component; _device_name);
command_ack.timestamp = vehicle_cmd.timestamp; }
_vehicle_command_ack_pub.publish(command_ack);
_transmitting_enabled = true;
_transmitting_enabled_commanded = true;
} else {
if (_transmitting_enabled) {
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command",
_device_name);
}
_transmitting_enabled = false;
_transmitting_enabled_commanded = false;
}
// send positive command ack
vehicle_command_ack_s command_ack{};
command_ack.command = vehicle_cmd.command;
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
command_ack.from_external = !vehicle_cmd.from_external;
command_ack.target_system = vehicle_cmd.source_system;
command_ack.target_component = vehicle_cmd.source_component;
command_ack.timestamp = vehicle_cmd.timestamp;
_vehicle_command_ack_pub.publish(command_ack);
}
} }
} }
} }