diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_ftp.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_ftp.h | 11 |
1 files changed, 4 insertions, 7 deletions
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h index b4cc154d1..4892e548c 100644 --- a/src/modules/mavlink/mavlink_ftp.h +++ b/src/modules/mavlink/mavlink_ftp.h @@ -76,8 +76,8 @@ public: uint8_t session; ///< Session id for read and write commands uint8_t opcode; ///< Command opcode uint8_t size; ///< Size of data - uint8_t padding[3]; ///< 32 bit aligment padding - uint32_t crc32; ///< CRC for entire Request structure, with crc32 and padding set to 0 + uint8_t req_opcode; ///< Request opcode returned in kRspAck, kRspNak message + uint8_t padding[2]; ///< 32 bit aligment padding uint32_t offset; ///< Offsets for List and Read commands uint8_t data[]; ///< command data, varies by Opcode }; @@ -97,7 +97,7 @@ public: kCmdCreateDirectory, ///< Creates directory at <path> kCmdRemoveDirectory, ///< Removes Directory at <path>, must be empty - kRspAck, ///< Ack response + kRspAck = 128, ///< Ack response kRspNak ///< Nak response }; @@ -111,8 +111,7 @@ public: kErrInvalidSession, ///< Session is not currently open kErrNoSessionsAvailable, ///< All available Sessions in use kErrEOF, ///< Offset past end of file for List and Read commands - kErrUnknownCommand, ///< Unknown command opcode - kErrCrc ///< CRC on Payload is incorrect + kErrUnknownCommand ///< Unknown command opcode }; private: @@ -134,8 +133,6 @@ private: void _lock_request_queue(void); void _unlock_request_queue(void); - uint32_t _payload_crc32(PayloadHeader *hdr); - char *_data_as_cstring(PayloadHeader* payload); static void _worker_trampoline(void *arg); |