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 * modification, are permitted provided that the following conditions
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 *
 * 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.
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 *    used to endorse or promote products derived from this software
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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_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);
		}
	}
}