diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index d114a2e5c..ce6de88ef 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -118,7 +118,7 @@ extern struct system_load_s system_load; #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) #define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ -#define RC_TIMEOUT 100000 +#define RC_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 @@ -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 */ @@ -587,11 +592,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; default: - /* warn about unsupported commands */ + /* Warn about unsupported commands, this makes sense because only commands + * to this component ID (or all) are passed by mavlink. */ answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); break; } - if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) { /* already warned about unsupported commands in "default" case */ answer_command(*cmd, result); |