diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-31 02:56:30 -0800 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-31 02:56:30 -0800 |
| commit | c367959d28134fb6c937af83a3e2dcc25b411eee (patch) | |
| tree | cf29e414308b29600c1d0942094f55e7b0f5dbbc /src | |
| parent | bcc14186c64b0cc202ef2063a159ba5199a1076b (diff) | |
| parent | 0153e334ff88e9b68425afb8847d32d0c21e73af (diff) | |
| download | px4-firmware-c367959d28134fb6c937af83a3e2dcc25b411eee.tar.gz px4-firmware-c367959d28134fb6c937af83a3e2dcc25b411eee.tar.bz2 px4-firmware-c367959d28134fb6c937af83a3e2dcc25b411eee.zip | |
Merge pull request #570 from PX4/rc_config
Rc config
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 37 |
1 files changed, 22 insertions, 15 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 9e43467cc..92b1b45be 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -348,20 +348,26 @@ l_input_rc(const struct listener *l) /* copy rc channels into local buffer */ orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw); - if (gcs_link) - /* Channels are sent in MAVLink main loop at a fixed interval */ - mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp / 1000, - 0, - (rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX, - (rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX, - (rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX, - (rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX, - (rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX, - (rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX, - (rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX, - (rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX, - 255); + if (gcs_link) { + + const unsigned port_width = 8; + + for (unsigned i = 0; (i * port_width) < (rc_raw.channel_count + port_width); i++) { + /* Channels are sent in MAVLink main loop at a fixed interval */ + mavlink_msg_rc_channels_raw_send(chan, + rc_raw.timestamp / 1000, + i, + (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX, + (rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX, + rc_raw.rssi); + } + } } void @@ -489,7 +495,8 @@ l_actuator_outputs(const struct listener *l) if (gcs_link) { mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - l->arg /* port number */, + l->arg /* port number - needs GCS support */, + /* QGC has port number support already */ act_outputs.output[0], act_outputs.output[1], act_outputs.output[2], |