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mavlink: change mavlink output destination #6

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mavlink: change mavlink output destination #6

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6 changes: 6 additions & 0 deletions app/dashcam/src/main_flow/ArduPilot/dev_console.c
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Original file line number Diff line number Diff line change
Expand Up @@ -966,6 +966,12 @@ static void check_wifi_txt(void)
if (strcmp(name, "CHANNEL") == 0) {
channel = atoi(value);
}

if (strcmp(name, "MAVLINK_DST_IP") == 0) {
mavlink_set_dst_ip(inet_addr(value));
} else if (strcmp(name, "MAVLINK_DST_PORT") == 0) {
mavlink_set_dst_port(atoi(value));
}
}

WiFi_QueryAndSet(SET_BEACON_OFF, NULL, NULL);
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16 changes: 14 additions & 2 deletions app/dashcam/src/main_flow/ArduPilot/mavlink_wifi.c
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Expand Up @@ -47,6 +47,8 @@ static int sitl_sock = -1;
static char stm32_id[40];
static bool rc_ok;
static bool vehicle_armed;
static uint32_t mavlink_dst_ip = INADDR_BROADCAST;
static uint16_t mavlink_dst_port = MAVLINK_DEST_PORT;

#define QUEUE_SIZE 50*1024

Expand Down Expand Up @@ -237,8 +239,8 @@ static void send_mavlink_wifi(int fd, mavlink_message_t *msg)
memset(&addr, 0x0, sizeof(addr));

addr.sin_family = AF_INET;
addr.sin_addr.s_addr = htonl(INADDR_BROADCAST);
addr.sin_port = htons(MAVLINK_DEST_PORT);
addr.sin_addr.s_addr = mavlink_dst_ip;
addr.sin_port = htons(mavlink_dst_port);

//console_printf("sending pkt of len %u\n", len);
sendto(fd, buf, len, 0, (struct sockaddr*)&addr, sizeof(addr));
Expand Down Expand Up @@ -1474,6 +1476,16 @@ void mavlink_set_sitl(bool enable)
console_printf("mavlink_sitl=%s\n", enable?"true":"false");
}

void mavlink_set_dst_ip(uint32_t ip)
{
mavlink_dst_ip = ip;
}

void mavlink_set_dst_port(uint16_t port)
{
mavlink_dst_port = port;
}

enum FlightCommand {
flightControllerTakeOff = 1,
flightControllerLand = 2,
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2 changes: 2 additions & 0 deletions app/dashcam/src/main_flow/ArduPilot/mavlink_wifi.h
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Expand Up @@ -11,6 +11,8 @@ void mavlink_show_stats(void);
void mavlink_set_debug(uint8_t debug_level);
int mavlink_set_flight_response(int index, int value);
void mavlink_set_sitl(bool enable);
void mavlink_set_dst_ip(uint32_t ip);
void mavlink_set_dst_port(uint16_t port);
int mavlink_fc_send(mavlink_message_t *msg);
bool toggle_recording(void);
bool take_snapshot(void);
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