From b17c0a11ab9d3e143eed881fc1ade3c297b4ff62 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 5 Feb 2019 16:33:49 +0100
Subject: [PATCH] mavlink: improve comments about message forwarding (#11323)
This removes the confusing ugly magic number of 233 introduced as part
of https://github.com/PX4/Firmware/pull/7670.
Also, the convoluted if is cleaned up using 3 separate bools with some
comments to explain what's going on.
This should not change anything function-wise except that the flight
controller could now potentially also use system ID 233 and not break
forwarding.
---
src/modules/mavlink/mavlink_main.cpp | 22 ++++++++++++++++------
1 file changed, 16 insertions(+), 6 deletions(-)
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 0dedc90790..c0780144c3 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -543,7 +543,7 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
const mavlink_msg_entry_t *meta = mavlink_get_msg_entry(msg->msgid);
int target_system_id = 0;
- int target_component_id = 233;
+ int target_component_id = 0;
// might be nullptr if message is unknown
if (meta) {
@@ -557,11 +557,21 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
}
}
- // Broadcast or addressing this system and not trying to talk
- // to the autopilot component -> pass on to other components
- if ((target_system_id == 0 || target_system_id == self->get_system_id())
- && (target_component_id == 0 || target_component_id != self->get_component_id())
- && !(!self->forward_heartbeats_enabled() && msg->msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
+ // We forward messages targetted at the same system, or addressed to all systems, or
+ // if not target system is set.
+ const bool target_system_id_ok =
+ (target_system_id == 0 || target_system_id == self->get_system_id());
+
+ // We forward messages that are targetting another component, or are addressed to all
+ // components, or if the target component is not set.
+ const bool target_component_id_ok =
+ (target_component_id == 0 || target_component_id != self->get_component_id());
+
+ // We don't forward heartbeats unless it's specifically enabled.
+ const bool heartbeat_check_ok =
+ (msg->msgid != MAVLINK_MSG_ID_HEARTBEAT || self->forward_heartbeats_enabled());
+
+ if (target_system_id_ok && target_component_id_ok && heartbeat_check_ok) {
inst->pass_message(msg);
}
--
GitLab