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/**
 * @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_time(0)
{
	_cmd_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_command));
}

void
MavlinkCommandsStream::update(const hrt_abstime t)
{
	struct vehicle_command_s cmd;

	if (_cmd_sub->update(&_cmd_time, &cmd)) {
		/* 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);
		}
	}
}