From 741f6787a794b31e93172ab535aa19d1fb94bc3a Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 7 Oct 2019 11:53:21 +0200 Subject: [PATCH] mavlink: disable sending RC override This was added to enable a Pixhawk to be used as an RC input for e.g. SITL. As far as we're aware of that's not really used. However, sending this can cause issues if multiple Pixhawks are in the same network. Also, is uses up some of the MAVLink bandwidth. Therefore, it's probably best to remove that feature for now. --- src/modules/mavlink/mavlink_messages.cpp | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 0ca2238140..ffcb07291d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -3533,23 +3533,6 @@ protected: msg.rssi = (rc.channel_count > 0) ? rc.rssi : 0; mavlink_msg_rc_channels_send_struct(_mavlink->get_channel(), &msg); - - /* send override message - harmless if connected to GCS, allows to connect a board to a Linux system */ - /* http://mavlink.org/messages/common#RC_CHANNELS_OVERRIDE */ - mavlink_rc_channels_override_t over = {}; - over.target_system = mavlink_system.sysid; - over.target_component = 0; - over.chan1_raw = msg.chan1_raw; - over.chan2_raw = msg.chan2_raw; - over.chan3_raw = msg.chan3_raw; - over.chan4_raw = msg.chan4_raw; - over.chan5_raw = msg.chan5_raw; - over.chan6_raw = msg.chan6_raw; - over.chan7_raw = msg.chan7_raw; - over.chan8_raw = msg.chan8_raw; - - mavlink_msg_rc_channels_override_send_struct(_mavlink->get_channel(), &over); - return true; }