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ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array.

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This commit is contained in:
rmackay9 2012-04-04 22:52:26 +09:00
parent 23c3f25654
commit 86d2a9ffdb
1 changed files with 10 additions and 10 deletions
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20
ArduCopter/GCS_Mavlink.pde
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@ -74,7 +74,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
uint8_t status = MAV_STATE_ACTIVE; uint8_t status = MAV_STATE_ACTIVE;
if (!motor_armed) { if (!motors.armed()) {
status = MAV_STATE_STANDBY; status = MAV_STATE_STANDBY;
} }
@ -197,7 +197,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
#else #else
#if X_PLANE == ENABLED #if X_PLANE == ENABLED
/* update by JLN for X-Plane HIL */ /* update by JLN for X-Plane HIL */
if(motor_armed == true && motor_auto_armed == true){ if(motors.armed() && motors.auto_armed()){
mavlink_msg_rc_channels_scaled_send( mavlink_msg_rc_channels_scaled_send(
chan, chan,
g.rc_1.servo_out, g.rc_1.servo_out,
@ -259,14 +259,14 @@ static void NOINLINE send_radio_out(mavlink_channel_t chan)
{ {
mavlink_msg_servo_output_raw_send( mavlink_msg_servo_output_raw_send(
chan, chan,
motor_out[0], motors.motor_out[AP_MOTORS_MOT_1],
motor_out[1], motors.motor_out[AP_MOTORS_MOT_2],
motor_out[2], motors.motor_out[AP_MOTORS_MOT_3],
motor_out[3], motors.motor_out[AP_MOTORS_MOT_4],
motor_out[4], motors.motor_out[AP_MOTORS_MOT_5],
motor_out[5], motors.motor_out[AP_MOTORS_MOT_6],
motor_out[6], motors.motor_out[AP_MOTORS_MOT_7],
motor_out[7]); motors.motor_out[AP_MOTORS_MOT_8]);
} }
static void NOINLINE send_vfr_hud(mavlink_channel_t chan) static void NOINLINE send_vfr_hud(mavlink_channel_t chan)