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GCS_MAVLink: removed deprecated RC_CHANNELS_RAW and use RC_CHANNELS only

This commit is contained in:
Andrew Tridgell 2016-10-13 21:23:39 +11:00
parent bba5b0e530
commit 53260969bb
1 changed files with 15 additions and 31 deletions
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46
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1102,14 +1102,14 @@ void GCS_MAVLINK::send_radio_in(uint8_t receiver_rssi)
{
uint32_t now = AP_HAL::millis();
uint16_t values[8];
uint16_t values[18];
memset(values, 0, sizeof(values));
hal.rcin->read(values, 8);
hal.rcin->read(values, 18);
mavlink_msg_rc_channels_raw_send(
mavlink_msg_rc_channels_send(
chan,
now,
0, // port
hal.rcin->num_channels(),
values[0],
values[1],
values[2],
@ -1118,33 +1118,17 @@ void GCS_MAVLINK::send_radio_in(uint8_t receiver_rssi)
values[5],
values[6],
values[7],
receiver_rssi);
if (hal.rcin->num_channels() > 8 && HAVE_PAYLOAD_SPACE(chan, RC_CHANNELS)) {
mavlink_msg_rc_channels_send(
chan,
now,
hal.rcin->num_channels(),
hal.rcin->read(CH_1),
hal.rcin->read(CH_2),
hal.rcin->read(CH_3),
hal.rcin->read(CH_4),
hal.rcin->read(CH_5),
hal.rcin->read(CH_6),
hal.rcin->read(CH_7),
hal.rcin->read(CH_8),
hal.rcin->read(CH_9),
hal.rcin->read(CH_10),
hal.rcin->read(CH_11),
hal.rcin->read(CH_12),
hal.rcin->read(CH_13),
hal.rcin->read(CH_14),
hal.rcin->read(CH_15),
hal.rcin->read(CH_16),
hal.rcin->read(CH_17),
hal.rcin->read(CH_18),
receiver_rssi);
}
values[8],
values[9],
values[10],
values[11],
values[12],
values[13],
values[14],
values[15],
values[16],
values[17],
receiver_rssi);
}
void GCS_MAVLINK::send_raw_imu(const AP_InertialSensor &ins, const Compass &compass)