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px4io: add RC update monotonic count and cleanup unused

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This commit is contained in:
Daniel Agar
2022-04-07 22:01:20 -04:00
parent 889a5aa0b1
commit b24ccc27c9
27 changed files with 167 additions and 323 deletions
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boards/bitcraze/crazyflie/syslink/syslink_main.cpp
+3 -9
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@@ -525,16 +525,9 @@ Syslink::handle_raw(syslink_message_t *sys)
crtp_commander *cmd = (crtp_commander *) &c->data[0];
input_rc_s rc = {};
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
input_rc_s rc{};
rc.timestamp_sample = hrt_absolute_time();
rc.channel_count = 5;
rc.rc_failsafe = false;
rc.rc_lost = false;
rc.rc_lost_frame_count = 0;
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
rc.rssi = _rssi;
@@ -548,6 +541,7 @@ Syslink::handle_raw(syslink_message_t *sys)
rc.values[3] = cmd->thrust * 1000 / USHRT_MAX + 1000;
rc.values[4] = 1000; // Dummy channel as px4 needs at least 5
rc.timestamp = hrt_absolute_time();
_rc_pub.publish(rc);
} else if (c->port == CRTP_PORT_MAVLINK) {