From cba8953ce454e5377d0ebfda9a133e2b77ad615f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 10 Sep 2011 19:08:18 +1000
Subject: [PATCH] added support for AP_ADC MAVLink packet

this adds AP_ADC, which sends raw ADC 16 bit values for all 6 ADC
channels at the Extra3 MAVLink stream rate. Extra3 was previously
unused
---
 ArduPlane/GCS_Mavlink.pde  |  3 +--
 ArduPlane/Mavlink_Common.h | 16 +++++++++++++++-
 ArduPlane/defines.h        |  1 +
 3 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index db34c15389..c1546d95a4 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -131,8 +131,7 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
 		}
 
 		if (freqLoopMatch(streamRateExtra3, freqMin, freqMax)){
-			// Available datastream
-			//Serial.printf("mav8 %d\n", (int)streamRateExtra3.get());
+			send_message(MSG_RAW_ADC);
 		}
 	}
 }
diff --git a/ArduPlane/Mavlink_Common.h b/ArduPlane/Mavlink_Common.h
index 3de4438cc2..4c2147b2c4 100644
--- a/ArduPlane/Mavlink_Common.h
+++ b/ArduPlane/Mavlink_Common.h
@@ -344,6 +344,20 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
 			break;
 		}
 
+
+		case MSG_RAW_ADC:
+        {
+            CHECK_PAYLOAD_SIZE(AP_ADC);
+            mavlink_msg_ap_adc_send(chan, 
+                                    analogRead(BATTERY_PIN1),
+                                    analogRead(BATTERY_PIN2),
+                                    analogRead(BATTERY_PIN3),
+                                    analogRead(BATTERY_PIN4),
+                                    analogRead(AN4),
+                                    analogRead(AN5));
+            break;
+        }
+        
 		default:
 			break;
 	}
@@ -351,7 +365,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
 }
 
 
-#define MAX_DEFERRED_MESSAGES 17 // should be at least equal to number of
+#define MAX_DEFERRED_MESSAGES 18 // should be at least equal to number of
                                  // switch types in mavlink_try_send_message()
 static struct mavlink_queue {
     uint8_t deferred_messages[MAX_DEFERRED_MESSAGES];
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index b48deed2da..3929123647 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -176,6 +176,7 @@
 #define MSG_GPS_RAW 0x64
 
 #define MSG_SERVO_OUT 0x70
+#define MSG_RAW_ADC   0x71
 
 #define MSG_PIN_REQUEST 0x80
 #define MSG_PIN_SET 0x81