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GCS_MAVLink: move handling of RC overrides up

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Based on commit 8db5e5308731b6916d5da58a650cef015b887180 by dposea
This commit is contained in:
Peter Barker 2019-02-04 08:33:13 +11:00 committed by Peter Barker
parent fc19ce03b6
commit ae68b58678
2 changed files with 36 additions and 1 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -332,6 +332,7 @@ protected:
void handle_param_request_list(mavlink_message_t *msg);
void handle_param_request_read(mavlink_message_t *msg);
virtual bool params_ready() const { return true; }
virtual void handle_rc_channels_override(const mavlink_message_t *msg);
void handle_system_time_message(const mavlink_message_t *msg);
void handle_common_rally_message(mavlink_message_t *msg);
void handle_rally_fetch_point(mavlink_message_t *msg);

36
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2910,6 +2910,37 @@ void GCS_MAVLINK::handle_command_ack(const mavlink_message_t* msg)
}
}
// allow override of RC channel values for HIL or for complete GCS
// control of switch position and RC PWM values.
void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t *msg)
{
if(msg->sysid != sysid_my_gcs()) {
return; // Only accept control from our gcs
}
const 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);
RC_Channels::set_override(8, packet.chan9_raw, tnow);
RC_Channels::set_override(9, packet.chan10_raw, tnow);
RC_Channels::set_override(10, packet.chan11_raw, tnow);
RC_Channels::set_override(11, packet.chan12_raw, tnow);
RC_Channels::set_override(12, packet.chan13_raw, tnow);
RC_Channels::set_override(13, packet.chan14_raw, tnow);
RC_Channels::set_override(14, packet.chan15_raw, tnow);
RC_Channels::set_override(15, packet.chan16_raw, tnow);
}
/*
handle messages which don't require vehicle specific data
*/
@ -3066,8 +3097,11 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
case MAVLINK_MSG_ID_SYSTEM_TIME:
handle_system_time_message(msg);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
handle_rc_channels_override(msg);
break;
}
}
void GCS_MAVLINK::handle_common_mission_message(mavlink_message_t *msg)