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Added ping message handling to mavlink receiver

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This commit is contained in:
Matt Beall
2015-03-31 10:30:57 -06:00
parent 3d8c85920b
commit ce9f46d4e7
2 changed files with 16 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+15
View File
@@ -157,6 +157,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_optical_flow_rad(msg);
break;
case MAVLINK_MSG_ID_PING:
handle_message_ping(msg);
break;
case MAVLINK_MSG_ID_SET_MODE:
handle_message_set_mode(msg);
break;
@@ -946,6 +950,17 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_ping(mavlink_message_t *msg)
{
mavlink_ping_t ping;
mavlink_msg_ping_decode( msg, &ping);
if (mavlink_system.sysid == ping.target_system &&
mavlink_system.compid == ping.target_component) {
_mavlink->send_message(MAVLINK_MSG_ID_PING, &msg);
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{
src/modules/mavlink/mavlink_receiver.h
+1
View File
@@ -127,6 +127,7 @@ private:
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_heartbeat(mavlink_message_t *msg);
void handle_message_ping(mavlink_message_t *msg);
void handle_message_request_data_stream(mavlink_message_t *msg);
void handle_message_system_time(mavlink_message_t *msg);
void handle_message_timesync(mavlink_message_t *msg);