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mavlink receiver: parse aux channels for manual control setpoint

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2024-07-18 10:42:39 +02:00
parent 08c790217d
commit 7746097266
1 changed files with 6 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+6
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@@ -2110,6 +2110,12 @@ 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;
manual_control_setpoint.aux1 = mavlink_manual_control.aux1;
manual_control_setpoint.aux2 = mavlink_manual_control.aux2;
manual_control_setpoint.aux3 = mavlink_manual_control.aux3;
manual_control_setpoint.aux4 = mavlink_manual_control.aux4;
manual_control_setpoint.aux5 = mavlink_manual_control.aux5;
manual_control_setpoint.aux6 = mavlink_manual_control.aux6;
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;