GCS_MAVLink: Common: Allow scripting to receive messages which fail CRC check #28248
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IamPete1
commented
Sep 27, 2024
| // This may be a valid message that we don't know the crc extra for, pass it to scripting which might | ||
| AP_Scripting *scripting = AP_Scripting::get_singleton(); | ||
| if (scripting != nullptr) { | ||
| scripting->handle_message(msg, chan); |
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Note that this ignores our usual routing rules from the check_and_forward function. We can't call it because we don't want to learn routes based on messages that failed the crc.
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Maybe allow the subscribe function to pass CRC Extra value in mavlink:register_rx_msgid(msg_id)
tridge
approved these changes
Oct 1, 2024
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This allows scripting to receive messages which the flight controller does not understand. Note that more work is needed to allow sending. This uses ArduPilot/pymavlink#983.
Tested new CRC check with MAVLink 1 and 2. Tested unknown messages by changing the CRC extra of command long in ArduPilot so it would fail its CRC check, it still works as normal in the script.