Be more forgiving about component IDs, but warn developers. Do *not* …

…translate developer debug messages (they would show up in the translation tool). Anyone without sufficient command of the english language will have a hard time contributing or debugging this application and we should not entangle the poor translators in this.

src/uas/UAS.cc

@@ -1102,13 +1102,19 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
  }
 
  // Check that this message applies to the UAS.
- if(mc.target_system == mavlink->getSystemId() && mc.target_component == mavlink->getComponentId())
+ if(mc.target_system == mavlink->getSystemId())
  {
+
+ if (mc.target_component != mavlink->getComponentId()) {
+ qDebug() << "The target component ID is not set correctly. This is currently only a warning, but will be turned into an error.";
+ qDebug() << "Expecting" << mavlink->getComponentId() << "but got" << mc.target_component;
+ }
+
  waypointManager.handleWaypointCount(message.sysid, message.compid, mc.count);
  }
  else
  {
- qDebug() << tr("Received mission count message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(mc.target_system);
+ qDebug() << QString("Received mission count message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(mc.target_system);
  }
  }
  break;
@@ -1127,13 +1133,19 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
  }
 
  // Check that the item pertains to this UAS.
- if(mi.target_system == mavlink->getSystemId() && mi.target_component == mavlink->getComponentId())
+ if(mi.target_system == mavlink->getSystemId())
  {
+
+ if (mi.target_component != mavlink->getComponentId()) {
+ qDebug() << "The target component ID is not set correctly. This is currently only a warning, but will be turned into an error.";
+ qDebug() << "Expecting" << mavlink->getComponentId() << "but got" << mi.target_component;
+ }
+
  waypointManager.handleWaypoint(message.sysid, message.compid, &mi);
  }
  else
  {
- qDebug() << tr("Received mission item message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(mi.target_system);
+ qDebug() << QString("Received mission item message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(mi.target_system);
  }
  }
  break;
@@ -1152,13 +1164,19 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
  }
 
  // Check that the ack pertains to this UAS.
- if(ma.target_system == mavlink->getSystemId() && ma.target_component == mavlink->getComponentId())
+ if(ma.target_system == mavlink->getSystemId())
  {
+
+ if (ma.target_component != mavlink->getComponentId()) {
+ qDebug() << tr("The target component ID is not set correctly. This is currently only a warning, but will be turned into an error.");
+ qDebug() << "Expecting" << mavlink->getComponentId() << "but got" << ma.target_component;
+ }
+
  waypointManager.handleWaypointAck(message.sysid, message.compid, &ma);
  }
  else
  {
- qDebug() << tr("Received mission ack message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(ma.target_system);
+ qDebug() << QString("Received mission ack message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(ma.target_system);
  }
  }
  break;
@@ -1177,13 +1195,19 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
  }
 
  // Check that the request pertains to this UAS.
- if(mr.target_system == mavlink->getSystemId() && mr.target_component == mavlink->getComponentId())
+ if(mr.target_system == mavlink->getSystemId())
  {
+
+ if (mr.target_component != mavlink->getComponentId()) {
+ qDebug() << QString("The target component ID is not set correctly. This is currently only a warning, but will be turned into an error.");
+ qDebug() << "Expecting" << mavlink->getComponentId() << "but got" << mr.target_component;
+ }
+
  waypointManager.handleWaypointRequest(message.sysid, message.compid, &mr);
  }
  else
  {
- qDebug() << tr("Received mission request message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(mr.target_system);
+ qDebug() << QString("Received mission request message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(mr.target_system);
  }
  }
  break;