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Sub: Added a MAVLink message handler for MANUAL_CONTROL. It currently sends values to override the RC channels for testing. This will change.

This commit is contained in:
Rustom Jehangir 2016-01-10 11:32:45 -08:00 committed by Andrew Tridgell
parent 2f3aff7499
commit 57b6303b07
1 changed files with 32 additions and 0 deletions
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32
ArduSub/GCS_Mavlink.cpp
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@ -1106,6 +1106,38 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL: // MAV ID: 69
{
if(msg->sysid != copter.g.sysid_my_gcs) break; // Only accept control from our gcs
mavlink_manual_control_t packet;
int16_t v[8];
uint16_t b;
mavlink_msg_manual_control_decode(msg, &packet);
static uint16_t skip = 0;
if ( skip++ % 25 == 0 ) {
copter.gcs_send_text_fmt(MAV_SEVERITY_INFO,"%4.0f,%4.0f,%4.0f",packet.x,packet.y,packet.z);
}
v[0] = packet.x/2+1500;
v[1] = packet.y/2+1500;
v[2] = packet.z+1000;
v[3] = packet.r/2+1500;
v[4] = packet.buttons;
v[5] = 0;
v[6] = 0;
v[7] = 0;
b = packet.buttons;
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
copter.failsafe.rc_override_active = hal.rcin->set_overrides(v, 8);
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: // MAV ID: 70
{
// allow override of RC channel values for HIL