Method handle_command_long

libraries/GCS_MAVLink/GCS_Common.cpp:5170–5202

}

void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
{
    // decode packet
    mavlink_command_long_t packet;
    mavlink_msg_command_long_decode(&msg, &packet);

#if AP_SCRIPTING_ENABLED
    AP_Scripting *scripting = AP_Scripting::get_singleton();
    if (scripting != nullptr && scripting->is_handling_command(packet.command)) {
        // Scripting has registered to receive this command, do not procces it internaly
        return;
    }
#endif

    hal.util->persistent_data.last_mavlink_cmd = packet.command;

    const MAV_RESULT result = try_command_long_as_command_int(packet, msg);

    // send ACK or NAK
    mavlink_msg_command_ack_send(chan, packet.command, result,
                                 0, 0,
                                 msg.sysid,
                                 msg.compid);

#if HAL_LOGGING_ENABLED
    // log the packet:
    mavlink_command_int_t packet_int;
    convert_COMMAND_LONG_to_COMMAND_INT(packet, packet_int);
    AP::logger().Write_Command(packet_int, msg.sysid, msg.compid, result, true);
#endif

    hal.util->persistent_data.last_mavlink_cmd = 0;
}

#else
void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)