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Support arm/disarm mavlink commands

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Refactor commands handling to remove repeating ack message packing.
This commit is contained in:
Oleg Kalachev
2025-08-27 04:45:25 +03:00
parent a7fdc2a88f
commit d47d7b8bd4
1 changed files with 12 additions and 6 deletions
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18
flix/mavlink.ino
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@@ -177,19 +177,25 @@ void handleMavlink(const void *_msg) {
mavlink_command_long_t m; mavlink_command_long_t m;
mavlink_msg_command_long_decode(&msg, &m); mavlink_msg_command_long_decode(&msg, &m);
if (m.target_system && m.target_system != SYSTEM_ID) return; if (m.target_system && m.target_system != SYSTEM_ID) return;
mavlink_message_t ack;
mavlink_message_t response; mavlink_message_t response;
bool accepted = false;
if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) { if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid); accepted = true;
sendMessage(&ack);
mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response, mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response,
MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0); MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0);
sendMessage(&response); sendMessage(&response);
} else {
mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid);
sendMessage(&ack);
} }
if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
accepted = true;
armed = m.param1 == 1;
}
// send command ack
mavlink_message_t ack;
mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid);
sendMessage(&ack);
} }
} }