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Rover/GCS_MAVLINK: add send_servo_out() method and use GCS_MAVLINK::receiver_rssi()

This commit is contained in:
olliw42 2021-08-24 16:18:45 +02:00 committed by Peter Barker
parent bacfe82c66
commit 2fecc02aa6
2 changed files with 6 additions and 4 deletions
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8
Rover/GCS_Mavlink.cpp
View File

@ -117,10 +117,10 @@ void GCS_MAVLINK_Rover::send_nav_controller_output() const
control_mode->crosstrack_error());
}
void Rover::send_servo_out(mavlink_channel_t chan)
void GCS_MAVLINK_Rover::send_servo_out()
{
float motor1, motor3;
if (g2.motors.have_skid_steering()) {
if (rover.g2.motors.have_skid_steering()) {
motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleLeft) / 1000.0f);
motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleRight) / 1000.0f);
} else {
@ -139,7 +139,7 @@ void Rover::send_servo_out(mavlink_channel_t chan)
0,
0,
0,
rssi.read_receiver_rssi_uint8());
receiver_rssi());
}
int16_t GCS_MAVLINK_Rover::vfr_hud_throttle() const
@ -329,7 +329,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
case MSG_SERVO_OUT:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
rover.send_servo_out(chan);
send_servo_out();
break;
case MSG_WHEEL_DISTANCE:

2
Rover/GCS_Mavlink.h
View File

@ -44,6 +44,8 @@ private:
void handle_set_position_target_global_int(const mavlink_message_t &msg);
void handle_radio(const mavlink_message_t &msg);
void send_servo_out();
void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
MAV_MODE base_mode() const override;