Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-06 06:43:21 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

Fix request data stream handling

Browse Source
This commit is contained in:
Lorenz Meier
2016-06-22 00:09:13 +02:00
parent de675845af
commit b563fae118
1 changed files with 1 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_receiver.cpp
+1 -24
View File
@@ -1375,30 +1375,7 @@ MavlinkReceiver::handle_message_ping(mavlink_message_t *msg)
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{
mavlink_request_data_stream_t req;
mavlink_msg_request_data_stream_decode(msg, &req);
PX4_WARN("REQUEST_DATA_STREAM is deprecated, please use SET_MESSAGE_INTERVAL instead");
if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid &&
req.req_stream_id != 0) {
// compute interval in microseconds.
float interval = 0;
int rate = req.req_message_rate;
if (req.start_stop == 0 || rate == 0) {
rate = -1;
} else if (rate > 0) {
interval = 1000000.0f / rate;
}
// todo: note it is kind of bogus to interpret the req_stream_id as a message id
// but this is how it was. MAVLINK defines separate MAV_DATA_STREAM ids which bundle
// messages into groups, but that is all deprecated now anyway, and this code was
// previously interpreting the req_stream_id as a message id, so we'll leave it that way.
set_message_interval(req.req_stream_id, interval);
}
// REQUEST_DATA_STREAM is deprecated, please use SET_MESSAGE_INTERVAL instead
}
void