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Plane: move handling of RC_CHANNELS_OVERRIDE up

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Peter Barker 2019-02-04 08:44:48 +11:00 committed by Peter Barker
parent 609b4f87c5
commit 6e1dc79b75
2 changed files with 9 additions and 29 deletions
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37
ArduPlane/GCS_Mavlink.cpp
View File

@ -1122,35 +1122,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
}
#endif // GEOFENCE_ENABLED
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
// and RC PWM values.
if(msg->sysid != plane.g.sysid_my_gcs) {
break; // Only accept control from our gcs
}
uint32_t tnow = AP_HAL::millis();
mavlink_rc_channels_override_t packet;
mavlink_msg_rc_channels_override_decode(msg, &packet);
RC_Channels::set_override(0, packet.chan1_raw, tnow);
RC_Channels::set_override(1, packet.chan2_raw, tnow);
RC_Channels::set_override(2, packet.chan3_raw, tnow);
RC_Channels::set_override(3, packet.chan4_raw, tnow);
RC_Channels::set_override(4, packet.chan5_raw, tnow);
RC_Channels::set_override(5, packet.chan6_raw, tnow);
RC_Channels::set_override(6, packet.chan7_raw, tnow);
RC_Channels::set_override(7, packet.chan8_raw, tnow);
// a RC override message is consiered to be a 'heartbeat' from
// the ground station for failsafe purposes
plane.failsafe.last_heartbeat_ms = tnow;
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg->sysid != plane.g.sysid_my_gcs) {
@ -1447,6 +1419,13 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
} // end switch
} // end handle mavlink
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t *msg)
{
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg);
}
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow

1
ArduPlane/GCS_Mavlink.h
View File

@ -42,6 +42,7 @@ private:
void handleMessage(mavlink_message_t * msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
void handle_rc_channels_override(const mavlink_message_t *msg) override;
bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;