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

3 files changed, 20 insertions, 13 deletions

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index c27716f74..d702179f0 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1229,7 +1229,10 @@ Mavlink::task_main(int argc, char *argv[])
 				_mode = MAVLINK_MODE_CUSTOM;
 
 			} else if (strcmp(optarg, "camera") == 0) {
-				_mode = MAVLINK_MODE_CAMERA;
+				// left in here for compatibility
+				_mode = MAVLINK_MODE_ONBOARD;
+			} else if (strcmp(optarg, "onboard") == 0) {
+				_mode = MAVLINK_MODE_ONBOARD;
 			}
 
 			break;
@@ -1289,8 +1292,8 @@ Mavlink::task_main(int argc, char *argv[])
 		warnx("mode: CUSTOM");
 		break;
 
-	case MAVLINK_MODE_CAMERA:
-		warnx("mode: CAMERA");
+	case MAVLINK_MODE_ONBOARD:
+		warnx("mode: ONBOARD");
 		break;
 
 	default:
@@ -1393,9 +1396,10 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
 		configure_stream("ATTITUDE_TARGET", 3.0f);
 		configure_stream("DISTANCE_SENSOR", 0.5f);
+		configure_stream("OPTICAL_FLOW", 0.5f);
 		break;
 
-	case MAVLINK_MODE_CAMERA:
+	case MAVLINK_MODE_ONBOARD:
 		configure_stream("SYS_STATUS", 1.0f);
 		configure_stream("ATTITUDE", 15.0f);
 		configure_stream("GLOBAL_POSITION_INT", 15.0f);
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 1e2e94cef..7f9d225bb 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -127,7 +127,7 @@ public:
 	enum MAVLINK_MODE {
 		MAVLINK_MODE_NORMAL = 0,
 		MAVLINK_MODE_CUSTOM,
-		MAVLINK_MODE_CAMERA
+		MAVLINK_MODE_ONBOARD
 	};
 
 	void			set_mode(enum MAVLINK_MODE);
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 */