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GCS_MAVLink: add build option to not send RC_CHANNELS_RAW 

we keep this around in case we break old OSD setups
This commit is contained in:
Peter Barker 2024-07-25 16:22:14 +10:00 committed by Andrew Tridgell
parent 6f5ea5a5e9
commit be377da6a4
2 changed files with 11 additions and 0 deletions
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7
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1002,7 +1002,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_MISSION_CURRENT, MSG_CURRENT_WAYPOINT},
{ MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, MSG_SERVO_OUTPUT_RAW},
{ MAVLINK_MSG_ID_RC_CHANNELS, MSG_RC_CHANNELS},
#if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
{ MAVLINK_MSG_ID_RC_CHANNELS_RAW, MSG_RC_CHANNELS_RAW},
#endif
{ MAVLINK_MSG_ID_RAW_IMU, MSG_RAW_IMU},
{ MAVLINK_MSG_ID_SCALED_IMU, MSG_SCALED_IMU},
{ MAVLINK_MSG_ID_SCALED_IMU2, MSG_SCALED_IMU2},
@ -2068,6 +2070,7 @@ void GCS_MAVLINK::send_rc_channels() const
);
}
#if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
void GCS_MAVLINK::send_rc_channels_raw() const
{
// for mavlink1 send RC_CHANNELS_RAW, for compatibility with OSD
@ -2098,6 +2101,7 @@ void GCS_MAVLINK::send_rc_channels_raw() const
#endif
);
}
#endif // AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
#endif // AP_RC_CHANNEL_ENABLED
void GCS_MAVLINK::send_raw_imu()
@ -6205,10 +6209,13 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_rc_channels();
break;
#if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
case MSG_RC_CHANNELS_RAW:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
send_rc_channels_raw();
break;
#endif // AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
#endif
case MSG_RAW_IMU:

4
libraries/GCS_MAVLink/GCS_config.h
View File

@ -40,6 +40,10 @@
#define AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED 1
#endif
#ifndef AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
#define AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED 1
#endif
// handling of MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES is slated to be
// removed; the message can be requested with MAV_CMD_REQUEST_MESSAGE
#ifndef AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED