Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-04 12:43:58 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: move handling of RC_CHANNELS_OVERRIDE up

Browse Source
This commit is contained in:
Peter Barker 2019-02-04 08:40:30 +11:00 committed by Peter Barker
parent ae68b58678
commit 76fe58a3bd
2 changed files with 9 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
APMrover2/GCS_Mavlink.cpp
View File

@ -747,38 +747,19 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
} }
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
void GCS_MAVLINK_Rover::handle_rc_channels_override(const mavlink_message_t *msg)
{
rover.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg);
}
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg) void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{ {
switch (msg->msgid) { switch (msg->msgid) {
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
// and RC PWM values.
if (msg->sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
break;
}
uint32_t tnow = AP_HAL::millis();
mavlink_rc_channels_override_t packet;
mavlink_msg_rc_channels_override_decode(msg, &packet);
RC_Channels::set_override(0, packet.chan1_raw, tnow);
RC_Channels::set_override(1, packet.chan2_raw, tnow);
RC_Channels::set_override(2, packet.chan3_raw, tnow);
RC_Channels::set_override(3, packet.chan4_raw, tnow);
RC_Channels::set_override(4, packet.chan5_raw, tnow);
RC_Channels::set_override(5, packet.chan6_raw, tnow);
RC_Channels::set_override(6, packet.chan7_raw, tnow);
RC_Channels::set_override(7, packet.chan8_raw, tnow);
// an RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
rover.failsafe.last_heartbeat_ms = tnow;
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL: case MAVLINK_MSG_ID_MANUAL_CONTROL:
{ {

1
APMrover2/GCS_Mavlink.h
View File

@ -38,6 +38,7 @@ private:
void handleMessage(mavlink_message_t * msg) override; void handleMessage(mavlink_message_t * msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override; bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override; void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
void handle_rc_channels_override(const mavlink_message_t *msg) override;
bool try_send_message(enum ap_message id) override; bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override; void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;