diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-08 08:42:28 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-08 08:42:28 -0700 |
| commit | 13be060dae1bca1f4a38970a88a48243ab54d185 (patch) | |
| tree | 65bccbd8332325b997352fe4fffee257303e2c69 /src | |
| parent | 0930a3c1b6d524936c17636095de1ca05d5e8c4b (diff) | |
| parent | bccdbde45eb70271bd946ca86173cd8add20cd3d (diff) | |
| download | px4-firmware-13be060dae1bca1f4a38970a88a48243ab54d185.tar.gz px4-firmware-13be060dae1bca1f4a38970a88a48243ab54d185.tar.bz2 px4-firmware-13be060dae1bca1f4a38970a88a48243ab54d185.zip | |
Merge pull request #815 from PX4/commander_handle_command
commander: handle_command: filter commands by sysid and componentid
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 69a45a02f..ce6de88ef 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -395,6 +395,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED; bool ret = false; + /* only handle commands that are meant to be handled by this system and component */ + if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components + return false; + } + /* only handle high-priority commands here */ /* request to set different system mode */ |