Mavlink: Fix forwarding of messages with target system/component id #12559
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Signed-off-by: Mark Owen <maowen801@gmail.com>
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julianoes
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Jul 25, 2019
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@julianoes What needs to happen to get this merged? Should I rebase by branch and do a force push to update the pull request? Or is it good enough to use the github "Update branch" button. |
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@maowen thanks for following up! I had not merged it immediately so others have a chance to review as well. Since no one had objections I can merge that now (and should have a while ago). |
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…X4#12559) Mavlink does not correctly forward messages that have the target_system or target_component routing fields in the message. Some investigation revealed that the Mavlink::forward_message function is incorrectly utilizing the mavlink_msg_entry_t.target_system_ofs and mavlink_msg_entry_t.target_component_ofs fields. These offsets are intended to be used relative to the start of the message payload. But, as implemented, these offsets are incorrectly being used relative to the start of the message. This pull-request corrects that problem. I also correctly made use of the mavlink_msg_entry_t.flags field to determine if a message contains a target_system or target component field. The previous check incorrectly assumed that they would always be non-zero if present. Signed-off-by: Mark Owen <maowen801@gmail.com>
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Mavlink does not correctly forward messages that have the
target_systemortarget_componentrouting fields in the message.Some investigation revealed that the
Mavlink::forward_messagefunction is incorrectly utilizing themavlink_msg_entry_t.target_system_ofsandmavlink_msg_entry_t.target_component_ofsfields. These offsets are intended to be used relative to the start of the message payload. But, as implemented, these offsets are incorrectly being used relative to the start of the message. This pull-request corrects that problem.I also correctly made use of the
mavlink_msg_entry_t.flagsfield to determine if a message contains atarget_systemortarget component field. The previous check incorrectly assumed that they would always be non-zero if present.See here: https://mavlink.io/en/guide/routing.html#c-library-mavgen
Quote:
Test Configuration
All testing was performed on px4_fmu-v5 hardware. The following system setup was used:
Host PC (Custom Mavlink Utility) <--> PX4 TELEM1 (Mode: Normal, Forwarding: Y)
PX4 TELEM2 (Mode: Onboard, Fowarding: Y) <--> Companion Computer App (Custom Mavlink Utility)
Mavlink status