diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-29 12:02:23 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-29 12:02:23 +0100 |
| commit | 87a61de670190b78331455f3bc84e0612a302f90 (patch) | |
| tree | 02f6c746d8181cde4df97f46b43139d148952ef4 /src | |
| parent | 01be817c5993d635d382cd5664c77e7f9728bd3f (diff) | |
| download | px4-firmware-87a61de670190b78331455f3bc84e0612a302f90.tar.gz px4-firmware-87a61de670190b78331455f3bc84e0612a302f90.tar.bz2 px4-firmware-87a61de670190b78331455f3bc84e0612a302f90.zip | |
Support for more than 8 output ports
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 34 |
1 files changed, 20 insertions, 14 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 9e43467cc..c1401368d 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 |