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GCS_MAVLink: send RC_CHANNELS_RAW if using MAVLink1 

this fixes issue #5010
This commit is contained in:
Andrew Tridgell 2016-10-18 18:16:16 +11:00
parent 350ed20460
commit a847520da8
1 changed files with 21 additions and 0 deletions
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21
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1102,11 +1102,32 @@ void GCS_MAVLINK::send_system_time(AP_GPS &gps)
void GCS_MAVLINK::send_radio_in(uint8_t receiver_rssi)
{
uint32_t now = AP_HAL::millis();
mavlink_status_t *status = mavlink_get_channel_status(chan);
uint16_t values[18];
memset(values, 0, sizeof(values));
hal.rcin->read(values, 18);
if (status && (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
// for mavlink1 send RC_CHANNELS_RAW, for compatibility with OSD implementations
mavlink_msg_rc_channels_raw_send(
chan,
now,
0,
values[0],
values[1],
values[2],
values[3],
values[4],
values[5],
values[6],
values[7],
receiver_rssi);
if (!HAVE_PAYLOAD_SPACE(chan, RC_CHANNELS)) {
// can't fit RC_CHANNELS
return;
}
}
mavlink_msg_rc_channels_send(
chan,
now,