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Copter: more complete RC output reporting to GCS

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Radio outputs are pulled from hal.rcout instead of from motors library
which provides more complete reporting because it includes output from
sources like the camera and mount libraries.
This commit is contained in:
Randy Mackay 2013-11-27 20:31:21 +09:00
parent 10d6a9a34e
commit a8929cd746
1 changed files with 17 additions and 8 deletions
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25
ArduCopter/GCS_Mavlink.pde
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@ -413,18 +413,27 @@ static void NOINLINE send_radio_in(mavlink_channel_t chan)
static void NOINLINE send_radio_out(mavlink_channel_t chan)
{
uint8_t i;
uint16_t rcout[8];
hal.rcout->read(rcout,8);
// clear out unreasonable values
for (i=0; i<8; i++) {
if (rcout[i] > 10000) {
rcout[i] = 0;
}
}
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[AP_MOTORS_MOT_5],
motors.motor_out[AP_MOTORS_MOT_6],
motors.motor_out[AP_MOTORS_MOT_7],
motors.motor_out[AP_MOTORS_MOT_8]);
rcout[0],
rcout[1],
rcout[2],
rcout[3],
rcout[4],
rcout[5],
rcout[6],
rcout[7]);
}
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)