1 files changed, 73 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_commands.cpp b/src/modules/mavlink/mavlink_commands.cpp
new file mode 100644
index 000000000..1c1e097a4
--- /dev/null
+++ b/src/modules/mavlink/mavlink_commands.cpp
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_commands.cpp
+ * Mavlink commands stream implementation.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include "mavlink_commands.h"
+
+MavlinkCommandsStream::MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel) : _channel(channel)
+{
+	_cmd_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_command));
+	_cmd = (struct vehicle_command_s *)_cmd_sub->get_data();
+}
+
+MavlinkCommandsStream::~MavlinkCommandsStream()
+{
+}
+
+void
+MavlinkCommandsStream::update(const hrt_abstime t)
+{
+	if (_cmd_sub->update(t)) {
+		/* only send commands for other systems/components */
+		if (_cmd->target_system != mavlink_system.sysid || _cmd->target_component != mavlink_system.compid) {
+			mavlink_msg_command_long_send(_channel,
+						      _cmd->target_system,
+						      _cmd->target_component,
+						      _cmd->command,
+						      _cmd->confirmation,
+						      _cmd->param1,
+						      _cmd->param2,
+						      _cmd->param3,
+						      _cmd->param4,
+						      _cmd->param5,
+						      _cmd->param6,
+						      _cmd->param7);
+		}
+	}
+}