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https://github.com/ArduPilot/ardupilot
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dbaf4c833b
This allows more channels to be passed to RCInput_UDP protocol while
also allowing less than 8 channels - this is similar to the approach
used by SITL in which the packet size is used to figure out the number
of channels.
(cherry picked from commit 29d8586ea4)
20 lines
497 B
C
20 lines
497 B
C
#pragma once
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#define RCINPUT_UDP_NUM_CHANNELS 8
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#define RCINPUT_UDP_NUM_CHANNELS_V3 16
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struct __attribute__((packed)) rc_udp_packet {
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uint32_t version;
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uint64_t timestamp_us;
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uint16_t sequence;
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uint16_t pwms[RCINPUT_UDP_NUM_CHANNELS];
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};
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struct __attribute__((packed)) rc_udp_packet_v3 {
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uint32_t version;
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uint64_t timestamp_us;
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uint16_t sequence;
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/* Up-to 16 channels, but client can transmit less channels */
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uint16_t pwms[RCINPUT_UDP_NUM_CHANNELS_V3];
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};
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