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APMRover2: Add support of MANUAL_CONTROL msg

This commit is contained in:
Pierre Kancir 2017-04-27 18:03:24 +02:00 committed by Randy Mackay
parent cbb9dcc2a1
commit 4d38eb85a1
1 changed files with 19 additions and 0 deletions
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19
APMrover2/GCS_Mavlink.cpp
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@ -993,6 +993,25 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg->sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
break;
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
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;
hal.rcin->set_override(uint8_t(rover.rcmap.roll() - 1), roll);
hal.rcin->set_override(uint8_t(rover.rcmap.throttle() - 1), throttle);
rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
break;
}
case MAVLINK_MSG_ID_HEARTBEAT:
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes