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

2024-03-11 11:51:19 +01:00
2 changed files with 3 additions and 0 deletions
--- a/msg/ManualControlSetpoint.msg
+++ b/msg/ManualControlSetpoint.msg
@ -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
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@ -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;