Be more permissive with mission component IDs, renamed camera to onboard link but still accepting same commandline syntax

1 files changed, 11 insertions, 8 deletions

diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 90a841787..d436c95e9 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -58,7 +58,10 @@
 #endif
 static const int ERROR = -1;
 
-#define CHECK_SYSID_COMPID(_msg)		(_msg.target_system == mavlink_system.sysid && _msg.target_component == mavlink_system.compid)
+#define CHECK_SYSID_COMPID_MISSION(_msg)		(_msg.target_system == mavlink_system.sysid && \
+						((_msg.target_component == mavlink_system.compid) || \
+						(_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \
+						(_msg.target_component == MAV_COMP_ID_ALL)))
 
 MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink),
 	_state(MAVLINK_WPM_STATE_IDLE),
@@ -384,7 +387,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
 	mavlink_mission_ack_t wpa;
 	mavlink_msg_mission_ack_decode(msg, &wpa);
 
-	if (CHECK_SYSID_COMPID(wpa)) {
+	if (CHECK_SYSID_COMPID_MISSION(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 +419,7 @@ 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 (CHECK_SYSID_COMPID(wpc)) {
+	if (CHECK_SYSID_COMPID_MISSION(wpc)) {
 		if (_state == MAVLINK_WPM_STATE_IDLE) {
 			_time_last_recv = hrt_absolute_time();
 
@@ -451,7 +454,7 @@ 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 (CHECK_SYSID_COMPID(wprl)) {
+	if (CHECK_SYSID_COMPID_MISSION(wprl)) {
 		if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
 			_time_last_recv = hrt_absolute_time();
 
@@ -487,7 +490,7 @@ MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg)
 	mavlink_mission_request_t wpr;
 	mavlink_msg_mission_request_decode(msg, &wpr);
 
-	if (CHECK_SYSID_COMPID(wpr)) {
+	if (CHECK_SYSID_COMPID_MISSION(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 +561,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
 	mavlink_mission_count_t wpc;
 	mavlink_msg_mission_count_decode(msg, &wpc);
 
-	if (CHECK_SYSID_COMPID(wpc)) {
+	if (CHECK_SYSID_COMPID_MISSION(wpc)) {
 		if (_state == MAVLINK_WPM_STATE_IDLE) {
 			_time_last_recv = hrt_absolute_time();
 
@@ -624,7 +627,7 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
 	mavlink_mission_item_t wp;
 	mavlink_msg_mission_item_decode(msg, &wp);
 
-	if (CHECK_SYSID_COMPID(wp)) {
+	if (CHECK_SYSID_COMPID_MISSION(wp)) {
 		if (_state == MAVLINK_WPM_STATE_GETLIST) {
 			_time_last_recv = hrt_absolute_time();
 
@@ -710,7 +713,7 @@ 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 (CHECK_SYSID_COMPID(wpca)) {
+	if (CHECK_SYSID_COMPID_MISSION(wpca)) {
 
 		if (_state == MAVLINK_WPM_STATE_IDLE) {
 			/* don't touch mission items storage itself, but only items count in mission state */