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MAVLink: RC_CHANNELS_OVERRIDE generate correct RC channel count (#11219) 

* mavlink_receiver: generate rc channel count
* mavlink_receiver: zero out ignored rc channels, add comments
This commit is contained in:
Matthias Grob 2019-01-25 18:15:02 +01:00 committed by Daniel Agar
parent 5bcd7c0a0d
commit 504372f551
1 changed files with 16 additions and 1 deletions
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17
src/modules/mavlink/mavlink_receiver.cpp
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@ -1834,7 +1834,6 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
// metadata
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
rc.channel_count = 18;
rc.rssi = RC_INPUT_RSSI_MAX;
rc.rc_failsafe = false;
rc.rc_lost = false;
@ -1862,6 +1861,22 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
rc.values[16] = man.chan17_raw;
rc.values[17] = man.chan18_raw;
// check how many channels are valid
for (int i = 17; i >= 0; i--) {
const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX
const bool ignore_zero = (i > 7) && (rc.values[i] == 0); // ignore channel 8-18 if value is 0
if (ignore_max || ignore_zero) {
// set all ignored values to zero
rc.values[i] = 0;
} else {
// first channel to not ignore -> set count considering zero-based index
rc.channel_count = i + 1;
break;
}
}
// publish uORB message
int instance; // provides the instance ID or the publication
ORB_PRIO priority = ORB_PRIO_HIGH; // since it is an override, set priority high