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mavlink receiver fix PREFLIGHT_REBOOT_SHUTDOWN #8008

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merged 1 commit into from
Sep 25, 2017
Merged

mavlink receiver fix PREFLIGHT_REBOOT_SHUTDOWN #8008

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36 changes: 2 additions & 34 deletions src/modules/mavlink/mavlink_receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -405,8 +405,6 @@ MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_c
switch (command) {

case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:

/* fallthrough */
case MAV_CMD_REQUEST_PROTOCOL_VERSION:
/* broadcast and ignore component */
target_ok = (target_system == 0) || (target_system == mavlink_system.sysid);
Expand Down Expand Up @@ -461,22 +459,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
return;
}

//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN) {

int cmd_id = int(cmd_mavlink.param1);

if (cmd_id == 10) {
/* This is the link shutdown command, terminate mavlink */
PX4_WARN("terminated by remote");
fflush(stdout);
usleep(50000);

/* terminate other threads and this thread */
_mavlink->_task_should_exit = true;
}

} else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
/* send autopilot version message */
_mavlink->send_autopilot_capabilites();

Expand Down Expand Up @@ -567,22 +550,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
return;
}

//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN) {

int cmd_id = int(cmd_mavlink.param1);

if (cmd_id == 10) {
/* This is the link shutdown command, terminate mavlink */
PX4_WARN("terminated by remote");
fflush(stdout);
usleep(50000);

/* terminate other threads and this thread */
_mavlink->_task_should_exit = true;
}

} else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
/* send autopilot version message */
_mavlink->send_autopilot_capabilites();

Expand Down