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ArduPlane: adjust for 16 channels in SERVO_OUTPUT_RAW

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This commit is contained in:
Andrew Tridgell 2016-07-15 20:04:19 +10:00
parent 387da40fc5
commit 02babb71b3
2 changed files with 5 additions and 35 deletions
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39
ArduPlane/GCS_Mavlink.cpp
View File

@ -415,39 +415,6 @@ void Plane::send_servo_out(mavlink_channel_t chan)
receiver_rssi);
}
void Plane::send_radio_out(mavlink_channel_t chan)
{
#if HIL_SUPPORT
if (g.hil_mode==1 && !g.hil_servos) {
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
RC_Channel::rc_channel(0)->get_radio_out(),
RC_Channel::rc_channel(1)->get_radio_out(),
RC_Channel::rc_channel(2)->get_radio_out(),
RC_Channel::rc_channel(3)->get_radio_out(),
RC_Channel::rc_channel(4)->get_radio_out(),
RC_Channel::rc_channel(5)->get_radio_out(),
RC_Channel::rc_channel(6)->get_radio_out(),
RC_Channel::rc_channel(7)->get_radio_out());
return;
}
#endif
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
hal.rcout->read(0),
hal.rcout->read(1),
hal.rcout->read(2),
hal.rcout->read(3),
hal.rcout->read(4),
hal.rcout->read(5),
hal.rcout->read(6),
hal.rcout->read(7));
}
void Plane::send_vfr_hud(mavlink_channel_t chan)
{
float aspeed;
@ -714,7 +681,11 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
case MSG_RADIO_OUT:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
plane.send_radio_out(chan);
#if HIL_SUPPORT
send_servo_output_raw(plane.g.hil_mode);
#else
send_servo_output_raw(false);
#endif
break;
case MSG_VFR_HUD:

1
ArduPlane/Plane.h
View File

@ -801,7 +801,6 @@ private:
void send_nav_controller_output(mavlink_channel_t chan);
void send_position_target_global_int(mavlink_channel_t chan);
void send_servo_out(mavlink_channel_t chan);
void send_radio_out(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
void send_simstate(mavlink_channel_t chan);
void send_hwstatus(mavlink_channel_t chan);