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Rover: use convenience manual_override method

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Peter Barker 2019-03-26 23:29:46 +11:00 committed by Tom Pittenger
parent 30a66d9f13
commit 32b29b3394
1 changed files with 3 additions and 5 deletions
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8
APMrover2/GCS_Mavlink.cpp
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@ -678,11 +678,9 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
}
uint32_t tnow = AP_HAL::millis();
const int16_t roll = (packet.y == INT16_MAX) ? 0 : rover.channel_steer->get_radio_min() + (rover.channel_steer->get_radio_max() - rover.channel_steer->get_radio_min()) * (packet.y + 1000) / 2000.0f;
const int16_t throttle = (packet.z == INT16_MAX) ? 0 : rover.channel_throttle->get_radio_min() + (rover.channel_throttle->get_radio_max() - rover.channel_throttle->get_radio_min()) * (packet.z + 1000) / 2000.0f;
RC_Channels::set_override(uint8_t(rover.rcmap.roll() - 1), roll, tnow);
RC_Channels::set_override(uint8_t(rover.rcmap.throttle() - 1), throttle, tnow);
manual_override(rover.channel_steer, packet.y, 1000, 2000, tnow);
manual_override(rover.channel_throttle, packet.z, 1000, 2000, tnow);
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
rover.failsafe.last_heartbeat_ms = tnow;