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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
+4 -1
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@@ -2247,6 +2247,7 @@ Mavlink::task_main(int argc, char *argv[])
// vehicle_command
if (_mode == MAVLINK_MODE_IRIDIUM) {
while (_vehicle_command_sub.updated()) {
const unsigned last_generation = _vehicle_command_sub.get_last_generation();
vehicle_command_s vehicle_cmd;
@@ -2257,7 +2258,8 @@ Mavlink::task_main(int argc, char *argv[])
}
if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) &&
(_mode == MAVLINK_MODE_IRIDIUM)) {
_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",
@@ -2289,6 +2291,7 @@ Mavlink::task_main(int argc, char *argv[])
}
}
}
}
/* send command ACK */
bool cmd_logging_start_acknowledgement = false;