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Mavlink sysid filter #448

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Merged
m4gr3d merged 1 commit into from
Sep 26, 2016
Merged

Mavlink sysid filter #448

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6 changes: 6 additions & 0 deletions .../main/java/org/droidplanner/services/android/impl/core/drone/autopilot/apm/ArduPilot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -385,6 +385,12 @@ protected boolean performTakeoff(Bundle data, ICommandListener listener) {

@Override
public void onMavLinkMessageReceived(MAVLinkMessage message) {

if (message.sysid != this.getSysid()) {
// Reject Messages that are not for the system id
return;
}

int compId = message.compid;
if (compId != AUTOPILOT_COMPONENT_ID
&& compId != ARTOO_COMPONENT_ID
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5 changes: 5 additions & 0 deletions .../droidplanner/services/android/impl/core/drone/autopilot/generic/GenericMavLinkDrone.java
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Expand Up @@ -574,6 +574,11 @@ private void onHeartbeat(MAVLinkMessage msg) {
@Override
public void onMavLinkMessageReceived(MAVLinkMessage message) {

if (message.sysid != this.getSysid()) {
// Reject Messages that are not for the system id
return;
}

onHeartbeat(message);

switch (message.msgid) {
Expand Down