zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Convert to pack/encode_chan apis

QGC4.4
Don Gagne 9 years ago
parent
e7979fd93f
commit
f69b38e4dc
5 changed files with 198 additions and 171 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 12
      src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
  2. 6
      src/FirmwarePlugin/APM/APMFirmwarePlugin.h
  3. 286
      src/comm/MockLink.cc
  4. 15
      src/comm/MockLinkFileServer.cc
  5. 50
      src/comm/MockLinkMissionItemHandler.cc

12
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
Unescape View File

@ -211,7 +211,7 @@ int APMFirmwarePlugin::manualControlReservedButtonCount(void) @@ -211,7 +211,7 @@ int APMFirmwarePlugin::manualControlReservedButtonCount(void)
return -1;
}
void APMFirmwarePlugin::_handleParamValue(Vehicle* vehicle, mavlink_message_t* message)
void APMFirmwarePlugin::_handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message)
{
Q_UNUSED(vehicle);
@ -301,7 +301,7 @@ void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* @@ -301,7 +301,7 @@ void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface*
mavlink_msg_param_set_encode_chan(message->sysid, message->compid, outgoingLink->mavlinkChannel(), message, &paramSet);
}
bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* message)
bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message)
{
QString messageText;
@ -410,7 +410,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m @@ -410,7 +410,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
return true;
}
void APMFirmwarePlugin::_handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
void APMFirmwarePlugin::_handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
{
bool flying = false;
@ -439,12 +439,12 @@ bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_m @@ -439,12 +439,12 @@ bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_m
switch (message->msgid) {
case MAVLINK_MSG_ID_PARAM_VALUE:
_handleParamValue(vehicle, message);
_handleIncomingParamValue(vehicle, message);
break;
case MAVLINK_MSG_ID_STATUSTEXT:
return _handleStatusText(vehicle, message);
return _handleIncomingStatusText(vehicle, message);
case MAVLINK_MSG_ID_HEARTBEAT:
_handleHeartbeat(vehicle, message);
_handleIncomingHeartbeat(vehicle, message);
break;
}

6
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
Unescape View File

@ -114,10 +114,10 @@ private: @@ -114,10 +114,10 @@ private:
static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion);
void _setInfoSeverity(mavlink_message_t* message) const;
QString _getMessageText(mavlink_message_t* message) const;
void _handleParamValue(Vehicle* vehicle, mavlink_message_t* message);
void _handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message);
bool _handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message);
void _handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
void _handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
bool _handleStatusText(Vehicle* vehicle, mavlink_message_t* message);
void _handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
void _soloVideoHandshake(Vehicle* vehicle);
bool _textSeverityAdjustmentNeeded;

286
src/comm/MockLink.cc
Unescape View File

@ -260,14 +260,15 @@ void MockLink::_sendHeartBeat(void) @@ -260,14 +260,15 @@ void MockLink::_sendHeartBeat(void)
{
mavlink_message_t msg;
mavlink_msg_heartbeat_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
_vehicleType, // MAV_TYPE
_firmwareType, // MAV_AUTOPILOT
_mavBaseMode, // MAV_MODE
_mavCustomMode, // custom mode
_mavState); // MAV_STATE
mavlink_msg_heartbeat_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&msg,
_vehicleType, // MAV_TYPE
_firmwareType, // MAV_AUTOPILOT
_mavBaseMode, // MAV_MODE
_mavCustomMode, // custom mode
_mavState); // MAV_STATE
respondWithMavlinkMessage(msg);
}
@ -276,16 +277,17 @@ void MockLink::_sendVibration(void) @@ -276,16 +277,17 @@ void MockLink::_sendVibration(void)
{
mavlink_message_t msg;
mavlink_msg_vibration_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
0, // time_usec
50.5, // vibration_x,
10.5, // vibration_y,
60.0, // vibration_z,
1, // clipping_0
2, // clipping_0
3); // clipping_0
mavlink_msg_vibration_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&msg,
0, // time_usec
50.5, // vibration_x,
10.5, // vibration_y,
60.0, // vibration_z,
1, // clipping_0
2, // clipping_0
3); // clipping_0
respondWithMavlinkMessage(msg);
}
@ -603,14 +605,15 @@ void MockLink::_paramRequestListWorker(void) @@ -603,14 +605,15 @@ void MockLink::_paramRequestListWorker(void)
qCDebug(MockLinkLog) << "Sending msg_param_value" << componentId << paramId << paramType << _mapParamName2Value[componentId][paramId];
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId, // component id
&responseMsg, // Outgoing message
paramId, // Parameter name
_floatUnionForParam(componentId, paramName), // Parameter value
paramType, // MAV_PARAM_TYPE
cParameters, // Total number of parameters
_currentParamRequestListParamIndex); // Index of this parameter
mavlink_msg_param_value_pack_chan(_vehicleSystemId,
componentId, // component id
mavlinkChannel(),
&responseMsg, // Outgoing message
paramId, // Parameter name
_floatUnionForParam(componentId, paramName), // Parameter value
paramType, // MAV_PARAM_TYPE
cParameters, // Total number of parameters
_currentParamRequestListParamIndex); // Index of this parameter
respondWithMavlinkMessage(responseMsg);
}
@ -650,14 +653,15 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg) @@ -650,14 +653,15 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg)
// Respond with a param_value to ack
mavlink_message_t responseMsg;
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId, // component id
&responseMsg, // Outgoing message
paramId, // Parameter name
request.param_value, // Send same value back
request.param_type, // Send same type back
_mapParamName2Value[componentId].count(), // Total number of parameters
_mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
mavlink_msg_param_value_pack_chan(_vehicleSystemId,
componentId, // component id
mavlinkChannel(),
&responseMsg, // Outgoing message
paramId, // Parameter name
request.param_value, // Send same value back
request.param_type, // Send same type back
_mapParamName2Value[componentId].count(), // Total number of parameters
_mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
respondWithMavlinkMessage(responseMsg);
}
@ -676,14 +680,15 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg) @@ -676,14 +680,15 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
valueUnion.type = MAV_PARAM_TYPE_UINT32;
valueUnion.param_uint32 = 0;
// Special case of magic hash check value
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId,
&responseMsg,
request.param_id,
valueUnion.param_float,
MAV_PARAM_TYPE_UINT32,
0,
-1);
mavlink_msg_param_value_pack_chan(_vehicleSystemId,
componentId,
mavlinkChannel(),
&responseMsg,
request.param_id,
valueUnion.param_float,
MAV_PARAM_TYPE_UINT32,
0,
-1);
respondWithMavlinkMessage(responseMsg);
return;
}
@ -717,14 +722,15 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg) @@ -717,14 +722,15 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
return;
}
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId, // component id
&responseMsg, // Outgoing message
paramId, // Parameter name
_floatUnionForParam(componentId, paramId), // Parameter value
_mapParamName2MavParamType[paramId], // Parameter type
_mapParamName2Value[componentId].count(), // Total number of parameters
_mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
mavlink_msg_param_value_pack_chan(_vehicleSystemId,
componentId, // component id
mavlinkChannel(),
&responseMsg, // Outgoing message
paramId, // Parameter name
_floatUnionForParam(componentId, paramId), // Parameter value
_mapParamName2MavParamType[paramId], // Parameter type
_mapParamName2Value[componentId].count(), // Total number of parameters
_mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
respondWithMavlinkMessage(responseMsg);
}
@ -738,12 +744,13 @@ void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw) @@ -738,12 +744,13 @@ void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw)
chanRaw[channel] = raw;
mavlink_message_t responseMsg;
mavlink_msg_rc_channels_pack(_vehicleSystemId,
_vehicleComponentId,
&responseMsg, // Outgoing message
0, // time since boot, ignored
18, // channel count
chanRaw[0], // channel raw value
mavlink_msg_rc_channels_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&responseMsg, // Outgoing message
0, // time since boot, ignored
18, // channel count
chanRaw[0], // channel raw value
chanRaw[1], // channel raw value
chanRaw[2], // channel raw value
chanRaw[3], // channel raw value
@ -801,11 +808,12 @@ void MockLink::_handleCommandLong(const mavlink_message_t& msg) @@ -801,11 +808,12 @@ void MockLink::_handleCommandLong(const mavlink_message_t& msg)
}
mavlink_message_t commandAck;
mavlink_msg_command_ack_pack(_vehicleSystemId,
_vehicleComponentId,
&commandAck,
request.command,
commandResult);
mavlink_msg_command_ack_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&commandAck,
request.command,
commandResult);
respondWithMavlinkMessage(commandAck);
}
@ -827,20 +835,21 @@ void MockLink::_respondWithAutopilotVersion(void) @@ -827,20 +835,21 @@ void MockLink::_respondWithAutopilotVersion(void)
flightVersion |= FIRMWARE_VERSION_TYPE_DEV << (8*0);
}
mavlink_msg_autopilot_version_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
0, // capabilities,
flightVersion, // flight_sw_version,
0, // middleware_sw_version,
0, // os_sw_version,
0, // board_version,
(uint8_t *)&customVersion, // flight_custom_version,
(uint8_t *)&customVersion, // middleware_custom_version,
(uint8_t *)&customVersion, // os_custom_version,
0, // vendor_id,
0, // product_id,
0); // uid
mavlink_msg_autopilot_version_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&msg,
0, // capabilities,
flightVersion, // flight_sw_version,
0, // middleware_sw_version,
0, // os_sw_version,
0, // board_version,
(uint8_t *)&customVersion, // flight_custom_version,
(uint8_t *)&customVersion, // middleware_custom_version,
(uint8_t *)&customVersion, // os_custom_version,
0, // vendor_id,
0, // product_id,
0); // uid
respondWithMavlinkMessage(msg);
}
@ -859,14 +868,15 @@ void MockLink::_sendHomePosition(void) @@ -859,14 +868,15 @@ void MockLink::_sendHomePosition(void)
bogus[2] = 0.0f;
bogus[3] = 0.0f;
mavlink_msg_home_position_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
(int32_t)(_vehicleLatitude * 1E7),
(int32_t)(_vehicleLongitude * 1E7),
(int32_t)(_vehicleAltitude * 1000),
0.0f, 0.0f, 0.0f,
&bogus[0],
mavlink_msg_home_position_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&msg,
(int32_t)(_vehicleLatitude * 1E7),
(int32_t)(_vehicleLongitude * 1E7),
(int32_t)(_vehicleAltitude * 1000),
0.0f, 0.0f, 0.0f,
&bogus[0],
0.0f, 0.0f, 0.0f);
respondWithMavlinkMessage(msg);
}
@ -876,18 +886,19 @@ void MockLink::_sendGpsRawInt(void) @@ -876,18 +886,19 @@ void MockLink::_sendGpsRawInt(void)
static uint64_t timeTick = 0;
mavlink_message_t msg;
mavlink_msg_gps_raw_int_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
timeTick++, // time since boot
3, // 3D fix
(int32_t)(_vehicleLatitude * 1E7),
(int32_t)(_vehicleLongitude * 1E7),
(int32_t)(_vehicleAltitude * 1000),
UINT16_MAX, UINT16_MAX, // HDOP/VDOP not known
UINT16_MAX, // velocity not known
UINT16_MAX, // course over ground not known
8); // satellite count
mavlink_msg_gps_raw_int_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&msg,
timeTick++, // time since boot
3, // 3D fix
(int32_t)(_vehicleLatitude * 1E7),
(int32_t)(_vehicleLongitude * 1E7),
(int32_t)(_vehicleAltitude * 1000),
UINT16_MAX, UINT16_MAX, // HDOP/VDOP not known
UINT16_MAX, // velocity not known
UINT16_MAX, // course over ground not known
8); // satellite count
respondWithMavlinkMessage(msg);
}
@ -914,11 +925,12 @@ void MockLink::_sendStatusTextMessages(void) @@ -914,11 +925,12 @@ void MockLink::_sendStatusTextMessages(void)
mavlink_message_t msg;
const struct StatusMessage* status = &rgMessages[i];
mavlink_msg_statustext_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
status->severity,
status->msg);
mavlink_msg_statustext_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&msg,
status->severity,
status->msg);
respondWithMavlinkMessage(msg);
}
}
@ -1065,21 +1077,22 @@ void MockLink::_sendRCChannels(void) @@ -1065,21 +1077,22 @@ void MockLink::_sendRCChannels(void)
{
mavlink_message_t msg;
mavlink_msg_rc_channels_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
0, // time_boot_ms
8, // chancount
1500, // chan1_raw
1500, // chan2_raw
1500, // chan3_raw
1500, // chan4_raw
1500, // chan5_raw
1500, // chan6_raw
1500, // chan7_raw
1500, // chan8_raw
UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX,
0); // rssi
mavlink_msg_rc_channels_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&msg,
0, // time_boot_ms
8, // chancount
1500, // chan1_raw
1500, // chan2_raw
1500, // chan3_raw
1500, // chan4_raw
1500, // chan5_raw
1500, // chan6_raw
1500, // chan7_raw
1500, // chan8_raw
UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX,
0); // rssi
respondWithMavlinkMessage(msg);
@ -1106,11 +1119,12 @@ void MockLink::_handlePreFlightCalibration(const mavlink_command_long_t& request @@ -1106,11 +1119,12 @@ void MockLink::_handlePreFlightCalibration(const mavlink_command_long_t& request
}
mavlink_message_t msg;
mavlink_msg_statustext_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
MAV_SEVERITY_INFO,
pCalMessage);
mavlink_msg_statustext_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&msg,
MAV_SEVERITY_INFO,
pCalMessage);
respondWithMavlinkMessage(msg);
}
@ -1126,14 +1140,15 @@ void MockLink::_handleLogRequestList(const mavlink_message_t& msg) @@ -1126,14 +1140,15 @@ void MockLink::_handleLogRequestList(const mavlink_message_t& msg)
}
mavlink_message_t responseMsg;
mavlink_msg_log_entry_pack(_vehicleSystemId,
_vehicleComponentId,
&responseMsg,
_logDownloadLogId, // log id
1, // num_logs
1, // last_log_num
0, // time_utc
_logDownloadFileSize); // size
mavlink_msg_log_entry_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&responseMsg,
_logDownloadLogId, // log id
1, // num_logs
1, // last_log_num
0, // time_utc
_logDownloadFileSize); // size
respondWithMavlinkMessage(responseMsg);
}
@ -1181,13 +1196,14 @@ void MockLink::_logDownloadWorker(void) @@ -1181,13 +1196,14 @@ void MockLink::_logDownloadWorker(void)
qDebug() << "MockLink::_logDownloadWorker" << _logDownloadCurrentOffset << _logDownloadBytesRemaining;
mavlink_message_t responseMsg;
mavlink_msg_log_data_pack(_vehicleSystemId,
_vehicleComponentId,
&responseMsg,
_logDownloadLogId,
_logDownloadCurrentOffset,
bytesToRead,
&buffer[0]);
mavlink_msg_log_data_pack_chan(_vehicleSystemId,
_vehicleComponentId,
mavlinkChannel(),
&responseMsg,
_logDownloadLogId,
_logDownloadCurrentOffset,
bytesToRead,
&buffer[0]);
respondWithMavlinkMessage(responseMsg);
_logDownloadCurrentOffset += bytesToRead;

15
src/comm/MockLinkFileServer.cc
Unescape View File

@ -365,13 +365,14 @@ void MockLinkFileServer::_sendResponse(uint8_t targetSystemId, uint8_t targetCom @@ -365,13 +365,14 @@ void MockLinkFileServer::_sendResponse(uint8_t targetSystemId, uint8_t targetCom
request->hdr.seqNumber = seqNumber;
mavlink_msg_file_transfer_protocol_pack(_systemIdServer, // System ID
0, // Component ID
&mavlinkMessage, // Mavlink Message to pack into
0, // Target network
targetSystemId,
targetComponentId,
(uint8_t*)request); // Payload
mavlink_msg_file_transfer_protocol_pack_chan(_systemIdServer, // System ID
0, // Component ID
_mockLink->mavlinkChannel(),
&mavlinkMessage, // Mavlink Message to pack into
0, // Target network
targetSystemId,
targetComponentId,
(uint8_t*)request); // Payload
_mockLink->respondWithMavlinkMessage(mavlinkMessage);
}

50
src/comm/MockLinkMissionItemHandler.cc
Unescape View File

@ -96,12 +96,13 @@ void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message @@ -96,12 +96,13 @@ void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message
mavlink_message_t responseMsg;
mavlink_msg_mission_count_pack(_mockLink->vehicleId(),
MAV_COMP_ID_MISSIONPLANNER,
&responseMsg, // Outgoing message
msg.sysid, // Target is original sender
msg.compid, // Target is original sender
itemCount); // Number of mission items
mavlink_msg_mission_count_pack_chan(_mockLink->vehicleId(),
MAV_COMP_ID_MISSIONPLANNER,
_mockLink->mavlinkChannel(),
&responseMsg, // Outgoing message
msg.sysid, // Target is original sender
msg.compid, // Target is original sender
itemCount); // Number of mission items
_mockLink->respondWithMavlinkMessage(responseMsg);
} else {
qCDebug(MockLinkMissionItemHandlerLog) << "_handleMissionRequestList not responding due to failure mode";
@ -149,18 +150,19 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t& @@ -149,18 +150,19 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
item = _missionItems[request.seq];
}
mavlink_msg_mission_item_pack(_mockLink->vehicleId(),
MAV_COMP_ID_MISSIONPLANNER,
&responseMsg, // Outgoing message
msg.sysid, // Target is original sender
msg.compid, // Target is original sender
request.seq, // Index of mission item being sent
item.frame,
item.command,
item.current,
item.autocontinue,
item.param1, item.param2, item.param3, item.param4,
item.x, item.y, item.z);
mavlink_msg_mission_item_pack_chan(_mockLink->vehicleId(),
MAV_COMP_ID_MISSIONPLANNER,
_mockLink->mavlinkChannel(),
&responseMsg, // Outgoing message
msg.sysid, // Target is original sender
msg.compid, // Target is original sender
request.seq, // Index of mission item being sent
item.frame,
item.command,
item.current,
item.autocontinue,
item.param1, item.param2, item.param3, item.param4,
item.x, item.y, item.z);
_mockLink->respondWithMavlinkMessage(responseMsg);
}
}
@ -218,7 +220,11 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber) @@ -218,7 +220,11 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
missionRequest.target_component = _mavlinkProtocol->getComponentId();
missionRequest.seq = sequenceNumber;
mavlink_msg_mission_request_encode(_mockLink->vehicleId(), MAV_COMP_ID_MISSIONPLANNER, &message, &missionRequest);
mavlink_msg_mission_request_encode_chan(_mockLink->vehicleId(),
MAV_COMP_ID_MISSIONPLANNER,
_mockLink->mavlinkChannel(),
&message,
&missionRequest);
_mockLink->respondWithMavlinkMessage(message);
// If response with Mission Item doesn't come before timer fires it's an error
@ -238,7 +244,11 @@ void MockLinkMissionItemHandler::_sendAck(MAV_MISSION_RESULT ackType) @@ -238,7 +244,11 @@ void MockLinkMissionItemHandler::_sendAck(MAV_MISSION_RESULT ackType)
missionAck.target_component = _mavlinkProtocol->getComponentId();
missionAck.type = ackType;
mavlink_msg_mission_ack_encode(_mockLink->vehicleId(), MAV_COMP_ID_MISSIONPLANNER, &message, &missionAck);
mavlink_msg_mission_ack_encode_chan(_mockLink->vehicleId(),
MAV_COMP_ID_MISSIONPLANNER,
_mockLink->mavlinkChannel(),
&message,
&missionAck);
_mockLink->respondWithMavlinkMessage(message);
}

Write Preview
Loading…
Cancel
Save