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Plane: fixed SERVO_OUTPUT_RAW for HIL

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This commit is contained in:
Andrew Tridgell 2012-12-03 17:38:31 +11:00
parent ac8a6b7c3e
commit cd19cb6cc2
1 changed files with 16 additions and 0 deletions
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16
ArduPlane/GCS_Mavlink.pde
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@ -328,6 +328,7 @@ static void NOINLINE send_radio_in(mavlink_channel_t chan)
static void NOINLINE send_radio_out(mavlink_channel_t chan)
{
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
mavlink_msg_servo_output_raw_send(
chan,
micros(),
@ -340,6 +341,21 @@ static void NOINLINE send_radio_out(mavlink_channel_t chan)
APM_RC.OutputCh_current(5),
APM_RC.OutputCh_current(6),
APM_RC.OutputCh_current(7));
#else
extern RC_Channel* rc_ch[NUM_CHANNELS];
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
rc_ch[0]->radio_out,
rc_ch[1]->radio_out,
rc_ch[2]->radio_out,
rc_ch[3]->radio_out,
rc_ch[4]->radio_out,
rc_ch[5]->radio_out,
rc_ch[6]->radio_out,
rc_ch[7]->radio_out);
#endif
}
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)