public static void sendMavlinkMessage(MavLinkDrone drone, MavlinkMessageWrapper messageWrapper) {
if (drone == null || messageWrapper == null) return;
MAVLinkMessage message = messageWrapper.getMavLinkMessage();
if (message == null) return;
message.compid = drone.getCompid();
message.sysid = drone.getSysid();
// Set the target system and target component for MAVLink messages that support those
// attributes.
try {
Class<?> tempMessage = message.getClass();
Field target_system = tempMessage.getDeclaredField("target_system");
Field target_component = tempMessage.getDeclaredField("target_component");
target_system.setByte(message, (byte) message.sysid);
target_component.setByte(message, (byte) message.compid);
} catch (NoSuchFieldException
| SecurityException
| IllegalAccessException
| IllegalArgumentException
| ExceptionInInitializerError e) {
Timber.e(e, e.getMessage());
}
drone.getMavClient().sendMavMessage(message, null);
}
