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GCS_MAVLink: handle RADIO_RC_CHANNELS

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olliw42 2024-03-01 02:17:56 +01:00 committed by Peter Barker
parent 31e2353c11
commit 0bb98c3db5
2 changed files with 16 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -690,6 +690,7 @@ protected:
void handle_optical_flow(const mavlink_message_t &msg);
void handle_manual_control(const mavlink_message_t &msg);
void handle_radio_rc_channels(const mavlink_message_t &msg);
// default empty handling of LANDING_TARGET
virtual void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) { }

15
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -4193,6 +4193,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
handle_rc_channels_override(msg);
break;
#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
case MAVLINK_MSG_ID_RADIO_RC_CHANNELS:
handle_radio_rc_channels(msg);
break;
#endif
#endif
#if AP_OPTICALFLOW_ENABLED
@ -6976,4 +6981,14 @@ MAV_RESULT GCS_MAVLINK::handle_control_high_latency(const mavlink_command_int_t
}
#endif // HAL_HIGH_LATENCY2_ENABLED
#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
void GCS_MAVLINK::handle_radio_rc_channels(const mavlink_message_t &msg)
{
mavlink_radio_rc_channels_t packet;
mavlink_msg_radio_rc_channels_decode(&msg, &packet);
AP::RC().handle_radio_rc_channels(&packet);
}
#endif // AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
#endif // HAL_GCS_ENABLED