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author | Anton Babushkin <anton.babushkin@me.com> | 2014-08-20 21:54:38 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-08-20 21:54:38 +0200 |
commit | 3cbfe989c793377cc5eac627c5f12573655b3ad2 (patch) | |
tree | 0a37b48b3aea55940d2a51e0bf9e2bdfcd233d4a | |
parent | 9a1fcb4c4ab0703400909f43e225632616e854fb (diff) | |
download | px4-firmware-3cbfe989c793377cc5eac627c5f12573655b3ad2.tar.gz px4-firmware-3cbfe989c793377cc5eac627c5f12573655b3ad2.tar.bz2 px4-firmware-3cbfe989c793377cc5eac627c5f12573655b3ad2.zip |
mavlink: missions manager compID cleanup, use the common compID, stict compID checks for incoming messages
-rw-r--r-- | src/modules/mavlink/mavlink_mission.cpp | 18 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_mission.h | 2 |
2 files changed, 9 insertions, 11 deletions
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 7a761588a..90a841787 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -58,6 +58,7 @@ #endif static const int ERROR = -1; +#define CHECK_SYSID_COMPID(_msg) (_msg.target_system == mavlink_system.sysid && _msg.target_component == mavlink_system.compid) MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink), _state(MAVLINK_WPM_STATE_IDLE), @@ -79,8 +80,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m _mission_result_sub(-1), _offboard_mission_pub(-1), _slow_rate_limiter(_interval / 10.0f), - _verbose(false), - _comp_id(MAV_COMP_ID_MISSIONPLANNER) + _verbose(false) { _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _mission_result_sub = orb_subscribe(ORB_ID(mission_result)); @@ -384,7 +384,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg) mavlink_mission_ack_t wpa; mavlink_msg_mission_ack_decode(msg, &wpa); - if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID(wpa)) { if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) { if (_state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -416,7 +416,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg) mavlink_mission_set_current_t wpc; mavlink_msg_mission_set_current_decode(msg, &wpc); - if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID(wpc)) { if (_state == MAVLINK_WPM_STATE_IDLE) { _time_last_recv = hrt_absolute_time(); @@ -451,7 +451,7 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg) mavlink_mission_request_list_t wprl; mavlink_msg_mission_request_list_decode(msg, &wprl); - if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID(wprl)) { if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -487,7 +487,7 @@ MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg) mavlink_mission_request_t wpr; mavlink_msg_mission_request_decode(msg, &wpr); - if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID(wpr)) { if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) { if (_state == MAVLINK_WPM_STATE_SENDLIST) { _time_last_recv = hrt_absolute_time(); @@ -558,7 +558,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) mavlink_mission_count_t wpc; mavlink_msg_mission_count_decode(msg, &wpc); - if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { + if (CHECK_SYSID_COMPID(wpc)) { if (_state == MAVLINK_WPM_STATE_IDLE) { _time_last_recv = hrt_absolute_time(); @@ -624,7 +624,7 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg) mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); - if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) { + if (CHECK_SYSID_COMPID(wp)) { if (_state == MAVLINK_WPM_STATE_GETLIST) { _time_last_recv = hrt_absolute_time(); @@ -710,7 +710,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) mavlink_mission_clear_all_t wpca; mavlink_msg_mission_clear_all_decode(msg, &wpca); - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { + if (CHECK_SYSID_COMPID(wpca)) { if (_state == MAVLINK_WPM_STATE_IDLE) { /* don't touch mission items storage itself, but only items count in mission state */ diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h index 8ff27f87d..a7bb94c22 100644 --- a/src/modules/mavlink/mavlink_mission.h +++ b/src/modules/mavlink/mavlink_mission.h @@ -126,8 +126,6 @@ private: bool _verbose; - uint8_t _comp_id; - /* do not allow top copying this class */ MavlinkMissionManager(MavlinkMissionManager &); MavlinkMissionManager& operator = (const MavlinkMissionManager &); |