From b2bec2ccdc0aa1fef264d91602d67d27adf12dab Mon Sep 17 00:00:00 2001
From: "tridge60@gmail.com"
 <tridge60@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 3 Mar 2011 11:40:06 +0000
Subject: [PATCH] added radio override via MAVLink

This allows MAVLink commands to override the RC input values. See the
discussion on the mavlink list.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1738 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/GCS_Mavlink.pde | 18 ++++++++++++++++++
 ArduCopterMega/system.pde      |  7 +++++++
 2 files changed, 25 insertions(+)

diff --git a/ArduCopterMega/GCS_Mavlink.pde b/ArduCopterMega/GCS_Mavlink.pde
index 1b995a633f..1a1d7cc72a 100644
--- a/ArduCopterMega/GCS_Mavlink.pde
+++ b/ArduCopterMega/GCS_Mavlink.pde
@@ -618,6 +618,24 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             airspeed = 100*packet.airspeed;
             break;
         }
+
+	case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
+	    {
+			// allow override of RC channel values for HIL
+			mavlink_rc_channels_raw_t packet;
+			int16_t v[8];
+			mavlink_msg_rc_channels_raw_decode(msg, &packet);
+			v[0] = packet.chan1_raw;
+			v[1] = packet.chan2_raw;
+			v[2] = packet.chan3_raw;
+			v[3] = packet.chan4_raw;
+			v[4] = packet.chan5_raw;
+			v[5] = packet.chan6_raw;
+			v[6] = packet.chan7_raw;
+			v[7] = packet.chan8_raw;
+			APM_RC.setHIL(v);
+			break;
+		}
 #endif
 #if HIL_MODE == HIL_MODE_ATTITUDE
     case MAVLINK_MSG_ID_ATTITUDE:
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index 566d399f6c..ed293c63d4 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -112,6 +112,13 @@ void init_ardupilot()
 	    Serial.printf_P(PSTR("using %u bytes of memory\n"), AP_Var::get_memory_use());
 	}
 
+#ifdef RADIO_OVERRIDE_DEFAULTS
+	{
+		int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
+		APM_RC.setHIL(rc_override);
+	}
+#endif
+
 	init_rc_in();		// sets up rc channels from radio
 	init_rc_out();		// sets up the timer libs
 	init_camera();