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Added Xplane output option

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This commit is contained in:
Jason Short 2012-01-04 09:26:58 -08:00
parent 6b9d35cc34
commit 5aa0861ec2
1 changed files with 40 additions and 13 deletions
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53
ArduCopter/GCS_Mavlink.pde
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@ -158,21 +158,48 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
0,
0,
rssi);
#else
#if X_PLANE == ENABLED
/* update by JLN for X-Plane HIL */
if(motor_armed == true && motor_auto_armed == true){
mavlink_msg_rc_channels_scaled_send(
chan,
g.rc_1.servo_out,
g.rc_2.servo_out,
10000 * g.rc_3.norm_output(),
g.rc_4.servo_out,
10000 * g.rc_1.norm_output(),
10000 * g.rc_2.norm_output(),
10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(),
rssi);
}else{
mavlink_msg_rc_channels_scaled_send(
chan,
0,
0,
-10000,
0,
10000 * g.rc_1.norm_output(),
10000 * g.rc_2.norm_output(),
10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(),
rssi);
}
mavlink_msg_rc_channels_scaled_send(
chan,
g.rc_1.servo_out,
g.rc_2.servo_out,
g.rc_3.radio_out,
g.rc_4.servo_out,
10000 * g.rc_1.norm_output(),
10000 * g.rc_2.norm_output(),
10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(),
rssi);
#else
mavlink_msg_rc_channels_scaled_send(
chan,
g.rc_1.servo_out,
g.rc_2.servo_out,
g.rc_3.radio_out,
g.rc_4.servo_out,
10000 * g.rc_1.norm_output(),
10000 * g.rc_2.norm_output(),
10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(),
rssi);
#endif
#endif
}