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mavlink receiver: include mavlink buttons in the manual control setpoint topic

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Thomas Stastny 2024-03-11 11:51:19 +01:00
parent 8dcfcf5b9e
commit 59d79499de
2 changed files with 3 additions and 0 deletions
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2
msg/ManualControlSetpoint.msg
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@ -35,6 +35,8 @@ float32 aux4
float32 aux5
float32 aux6
uint16 buttons # A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to button 1 of 16.
bool sticks_moving
# TOPICS manual_control_setpoint manual_control_input

1
src/modules/mavlink/mavlink_receiver.cpp
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@ -2089,6 +2089,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
// For backwards compatibility at the moment interpret throttle in range [0,1000]
manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f;
manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f;
manual_control_setpoint.buttons = mavlink_manual_control.buttons;
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
manual_control_setpoint.valid = true;