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mavlink: improve comments about message forwarding (#11323)

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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.
This commit is contained in:
Julian Oes
2019-02-05 16:33:49 +01:00
committed by Daniel Agar
parent 3d3a98c803
commit b17c0a11ab
1 changed files with 16 additions and 6 deletions
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22
src/modules/mavlink/mavlink_main.cpp
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@@ -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);
}