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Added Xplane output option

This commit is contained in:
Jason Short 2012-01-04 09:26:58 -08:00
parent 467ef66a77
commit 28262dd825
1 changed files with 40 additions and 13 deletions
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31
ArduCopter/GCS_Mavlink.pde
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@ -158,9 +158,36 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
0, 0,
0, 0,
rssi); 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);
}
#else #else
mavlink_msg_rc_channels_scaled_send( mavlink_msg_rc_channels_scaled_send(
chan, chan,
g.rc_1.servo_out, g.rc_1.servo_out,
@ -172,7 +199,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
10000 * g.rc_3.norm_output(), 10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(), 10000 * g.rc_4.norm_output(),
rssi); rssi);
#endif
#endif #endif
} }