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GCS_MAVLink: for high RC_CHANNELS_OVERRIDE channels zero means ignore the field

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Peter Barker 2020-08-16 14:09:13 +10:00 committed by Peter Barker
parent 9b2ef4f6f1
commit 6f4bbd3f57
1 changed files with 8 additions and 1 deletions
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9
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3126,12 +3126,19 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
packet.chan16_raw
};
for (uint8_t i=0; i<ARRAY_SIZE(override_data); i++) {
for (uint8_t i=0; i<8; i++) {
// Per MAVLink spec a value of UINT16_MAX means to ignore this field.
if (override_data[i] != UINT16_MAX) {
RC_Channels::set_override(i, override_data[i], tnow);
}
}
for (uint8_t i=8; i<ARRAY_SIZE(override_data); i++) {
// Per MAVLink spec a value of zero or UINT16_MAX means to
// ignore this field.
if (override_data[i] != 0 && override_data[i] != UINT16_MAX) {
RC_Channels::set_override(i, override_data[i], tnow);
}
}
}
// allow override of RC channel values for HIL or for complete GCS