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AP_MSP: fixed MSP RC out command

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yaapu 2021-07-02 11:22:31 +02:00 committed by Andrew Tridgell
parent c1e50dc676
commit 05686f3c60
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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@ -947,12 +947,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
uint16_t r; uint16_t r;
uint16_t t; uint16_t t;
} rc; } rc;
// send only 4 channels, MSP order is AERT // send only 4 channels, MSP order is AERT
rc.a = values[rcmap->roll()]; // A // note: rcmap channels start at 1
rc.e = values[rcmap->pitch()]; // E rc.a = values[rcmap->roll()-1]; // A
rc.r = values[rcmap->yaw()]; // R rc.e = values[rcmap->pitch()-1]; // E
rc.t = values[rcmap->throttle()]; // T rc.r = values[rcmap->yaw()-1]; // R
rc.t = values[rcmap->throttle()-1]; // T
sbuf_write_data(dst, &rc, sizeof(rc)); sbuf_write_data(dst, &rc, sizeof(rc));
return MSP_RESULT_ACK; return MSP_RESULT_ACK;