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APMrover2: adjust for 16 channels in SERVO_OUTPUT_RAW

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This commit is contained in:
Andrew Tridgell 2016-07-15 20:04:19 +10:00
parent 53e71ccf12
commit a4270b1bb6
2 changed files with 1 additions and 33 deletions
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33
APMrover2/GCS_Mavlink.cpp
View File

@ -259,37 +259,6 @@ void Rover::send_servo_out(mavlink_channel_t chan)
#endif #endif
} }
void Rover::send_radio_out(mavlink_channel_t chan)
{
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
hal.rcout->read(0),
hal.rcout->read(1),
hal.rcout->read(2),
hal.rcout->read(3),
hal.rcout->read(4),
hal.rcout->read(5),
hal.rcout->read(6),
hal.rcout->read(7));
#else
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
RC_Channel::rc_channel(0)->get_radio_out(),
RC_Channel::rc_channel(1)->get_radio_out(),
RC_Channel::rc_channel(2)->get_radio_out(),
RC_Channel::rc_channel(3)->get_radio_out(),
RC_Channel::rc_channel(4)->get_radio_out(),
RC_Channel::rc_channel(5)->get_radio_out(),
RC_Channel::rc_channel(6)->get_radio_out(),
RC_Channel::rc_channel(7)->get_radio_out());
#endif
}
void Rover::send_vfr_hud(mavlink_channel_t chan) void Rover::send_vfr_hud(mavlink_channel_t chan)
{ {
mavlink_msg_vfr_hud_send( mavlink_msg_vfr_hud_send(
@ -480,7 +449,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
case MSG_RADIO_OUT: case MSG_RADIO_OUT:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW); CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
rover.send_radio_out(chan); send_servo_output_raw(false);
break; break;
case MSG_VFR_HUD: case MSG_VFR_HUD:

1
APMrover2/Rover.h
View File

@ -396,7 +396,6 @@ private:
void send_location(mavlink_channel_t chan); void send_location(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan); void send_nav_controller_output(mavlink_channel_t chan);
void send_servo_out(mavlink_channel_t chan); void send_servo_out(mavlink_channel_t chan);
void send_radio_out(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan); void send_vfr_hud(mavlink_channel_t chan);
void send_simstate(mavlink_channel_t chan); void send_simstate(mavlink_channel_t chan);
void send_hwstatus(mavlink_channel_t chan); void send_hwstatus(mavlink_channel_t chan);