From d8fabd11d04861890c792db320f66960ed9fbe75 Mon Sep 17 00:00:00 2001
From: Eric Katzfey <53063038+katzfey@users.noreply.github.com>
Date: Tue, 9 Apr 2024 12:35:42 -0700
Subject: [PATCH] Send mavlink manual control buttons field in manual control
 input topic (#22988)

Pass along button states from manual control mavlink message in new buttons field in manual control input topic
---
 boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp | 2 +-
 msg/ManualControlSetpoint.msg                               | 2 ++
 src/modules/mavlink/mavlink_receiver.cpp                    | 2 ++
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp
index a40bd8eda2..cf7e928342 100644
--- a/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp
+++ b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp
@@ -125,7 +125,7 @@ void elrs_led_task()
 
 			orb_copy(ORB_ID(manual_control_input), manual_control_input_fd, &setpoint_req);
 
-			_cmd = (ControllerInput)setpoint_req.aux1;
+			_cmd = (ControllerInput)setpoint_req.buttons;
 
 			// skip duplicate cmds
 			if (_cmd == _prev_cmd) {
diff --git a/msg/ManualControlSetpoint.msg b/msg/ManualControlSetpoint.msg
index 4e4e305fd0..95fa622283 100644
--- a/msg/ManualControlSetpoint.msg
+++ b/msg/ManualControlSetpoint.msg
@@ -37,6 +37,8 @@ float32 aux6
 
 bool sticks_moving
 
+uint16 buttons		# From uint16 buttons field of Mavlink manual_control message
+
 # TOPICS manual_control_setpoint manual_control_input
 # DEPRECATED: float32 x
 # DEPRECATED: float32 y
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 6030d9b651..928d744b47 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2089,6 +2089,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	// For backwards compatibility at the moment interpret throttle in range [0,1000]
 	manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f;
 	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.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;