From 28262dd8254d1e90b061a134377cee9a1aab9dc2 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Wed, 4 Jan 2012 09:26:58 -0800 Subject: [PATCH] Added Xplane output option --- ArduCopter/GCS_Mavlink.pde | 53 ++++++++++++++++++++++++++++---------- 1 file changed, 40 insertions(+), 13 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index 041437682b..195c9b40c2 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/GCS_Mavlink.pde @@ -158,21 +158,48 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan) 0, 0, rssi); - #else + #if X_PLANE == ENABLED + /* update by JLN for X-Plane HIL */ + if(motor_armed == true && motor_auto_armed == true){ + mavlink_msg_rc_channels_scaled_send( + chan, + g.rc_1.servo_out, + g.rc_2.servo_out, + 10000 * g.rc_3.norm_output(), + g.rc_4.servo_out, + 10000 * g.rc_1.norm_output(), + 10000 * g.rc_2.norm_output(), + 10000 * g.rc_3.norm_output(), + 10000 * g.rc_4.norm_output(), + rssi); + }else{ + mavlink_msg_rc_channels_scaled_send( + chan, + 0, + 0, + -10000, + 0, + 10000 * g.rc_1.norm_output(), + 10000 * g.rc_2.norm_output(), + 10000 * g.rc_3.norm_output(), + 10000 * g.rc_4.norm_output(), + rssi); + } - mavlink_msg_rc_channels_scaled_send( - chan, - g.rc_1.servo_out, - g.rc_2.servo_out, - g.rc_3.radio_out, - g.rc_4.servo_out, - 10000 * g.rc_1.norm_output(), - 10000 * g.rc_2.norm_output(), - 10000 * g.rc_3.norm_output(), - 10000 * g.rc_4.norm_output(), - rssi); - + #else + mavlink_msg_rc_channels_scaled_send( + chan, + g.rc_1.servo_out, + g.rc_2.servo_out, + g.rc_3.radio_out, + g.rc_4.servo_out, + 10000 * g.rc_1.norm_output(), + 10000 * g.rc_2.norm_output(), + 10000 * g.rc_3.norm_output(), + 10000 * g.rc_4.norm_output(), + rssi); + #endif #endif }