diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index dcf9aeb64..bad788ad0 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1351,8 +1351,11 @@ protected: /* scale outputs depending on system type */ if (system_type == MAV_TYPE_QUADROTOR || - system_type == MAV_TYPE_HEXAROTOR || - system_type == MAV_TYPE_OCTOROTOR) { + system_type == MAV_TYPE_HEXAROTOR || + system_type == MAV_TYPE_OCTOROTOR || + system_type == MAV_TYPE_VTOL_DUOROTOR || + system_type == MAV_TYPE_VTOL_QUADROTOR) { + /* multirotors: set number of rotor outputs depending on type */ unsigned n; @@ -1366,6 +1369,14 @@ protected: n = 6; break; + case MAV_TYPE_VTOL_DUOROTOR: + n = 2; + break; + + case MAV_TYPE_VTOL_QUADROTOR: + n = 4; + break; + default: n = 8; break; |