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Support MAVLink extension MANUAL_CONTROL.aux

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Note that in uORB we don't currently know if the aux fields are
specifically valid or not so we can also not set the corresponding
bits in the field.
This commit is contained in:
Matthias Grob
2023-09-20 15:14:36 +02:00
parent 58a699e3cb
commit 6cf0bf5e19
2 changed files with 47 additions and 4 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+13
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@@ -2110,6 +2110,19 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f;
// Pass along the button states
manual_control_setpoint.buttons = mavlink_manual_control.buttons;
if (mavlink_manual_control.enabled_extensions & (1u << 2)) { manual_control_setpoint.aux1 = mavlink_manual_control.aux1 / 1000.0f; }
if (mavlink_manual_control.enabled_extensions & (1u << 3)) { manual_control_setpoint.aux2 = mavlink_manual_control.aux2 / 1000.0f; }
if (mavlink_manual_control.enabled_extensions & (1u << 4)) { manual_control_setpoint.aux3 = mavlink_manual_control.aux3 / 1000.0f; }
if (mavlink_manual_control.enabled_extensions & (1u << 5)) { manual_control_setpoint.aux4 = mavlink_manual_control.aux4 / 1000.0f; }
if (mavlink_manual_control.enabled_extensions & (1u << 6)) { manual_control_setpoint.aux5 = mavlink_manual_control.aux5 / 1000.0f; }
if (mavlink_manual_control.enabled_extensions & (1u << 7)) { manual_control_setpoint.aux6 = mavlink_manual_control.aux6 / 1000.0f; }
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;