From 5f87545e480074c8fbdf00a24c47e2df30d68e6e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 4 Jun 2018 10:00:13 +0200 Subject: [PATCH] mavlink_messages: fill in all 16 servo channels --- src/modules/mavlink/mavlink_messages.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 1390185d67..33e7636a46 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -2349,6 +2349,8 @@ protected: if (_act_sub->update(&_act_time, &act)) { mavlink_servo_output_raw_t msg = {}; + static_assert(sizeof(act.output) / sizeof(act.output[0]) >= 16, "mavlink message requires at least 16 outputs"); + msg.time_usec = act.timestamp; msg.port = N; msg.servo1_raw = act.output[0]; @@ -2359,6 +2361,14 @@ protected: msg.servo6_raw = act.output[5]; msg.servo7_raw = act.output[6]; msg.servo8_raw = act.output[7]; + msg.servo9_raw = act.output[8]; + msg.servo10_raw = act.output[9]; + msg.servo11_raw = act.output[10]; + msg.servo12_raw = act.output[11]; + msg.servo13_raw = act.output[12]; + msg.servo14_raw = act.output[13]; + msg.servo15_raw = act.output[14]; + msg.servo16_raw = act.output[15]; mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg);