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ArduCopter: adjust for 16 channels in SERVO_OUTPUT_RAW

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This commit is contained in:
Andrew Tridgell 2016-07-15 20:04:19 +10:00
parent a4270b1bb6
commit 387da40fc5
2 changed files with 1 additions and 18 deletions
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1
ArduCopter/Copter.h
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@ -655,7 +655,6 @@ private:
void send_simstate(mavlink_channel_t chan);
void send_hwstatus(mavlink_channel_t chan);
void send_servo_out(mavlink_channel_t chan);
void send_radio_out(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
void send_current_waypoint(mavlink_channel_t chan);
void send_rangefinder(mavlink_channel_t chan);

18
ArduCopter/GCS_Mavlink.cpp
View File

@ -378,22 +378,6 @@ void NOINLINE Copter::send_servo_out(mavlink_channel_t chan)
#endif // HIL_MODE
}
void NOINLINE Copter::send_radio_out(mavlink_channel_t chan)
{
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
hal.rcout->read(0),
hal.rcout->read(1),
hal.rcout->read(2),
hal.rcout->read(3),
hal.rcout->read(4),
hal.rcout->read(5),
hal.rcout->read(6),
hal.rcout->read(7));
}
void NOINLINE Copter::send_vfr_hud(mavlink_channel_t chan)
{
mavlink_msg_vfr_hud_send(
@ -584,7 +568,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
case MSG_RADIO_OUT:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
copter.send_radio_out(chan);
send_servo_output_raw(false);
break;
case MSG_VFR_HUD: