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Copter: added DSM bind support

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Eugene Shamaev 2015-06-10 16:46:07 +10:00 committed by Andrew Tridgell
parent 3ecead9d3c
commit a3ddc49a70
1 changed files with 9 additions and 0 deletions
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9
ArduCopter/GCS_Mavlink.cpp
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@ -1103,6 +1103,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch(packet.command) {
case MAV_CMD_START_RX_PAIR:
// initiate bind procedure
if (!hal.rcin->rc_bind(packet.param1)) {
result = MAV_RESULT_FAILED;
} else {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_NAV_TAKEOFF: {
// param3 : horizontal navigation by pilot acceptable
// param4 : yaw angle (not supported)