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drivers/rc_input: command line bind use vehicle_command

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This commit is contained in:
Daniel Agar
2020-10-04 22:23:47 -04:00
parent 1bf0218c87
commit ddce711acb
2 changed files with 21 additions and 19 deletions
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src/drivers/rc_input/RCInput.cpp
+6 -7
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@@ -37,10 +37,6 @@
using namespace time_literals;
#if defined(SPEKTRUM_POWER)
static bool bind_spektrum(int arg = DSMX8_BIND_PULSES);
#endif /* SPEKTRUM_POWER */
constexpr char const *RCInput::RC_SCAN_STRING[];
RCInput::RCInput(const char *device) :
@@ -606,7 +602,7 @@ void RCInput::Run()
}
#if defined(SPEKTRUM_POWER)
bool bind_spektrum(int arg)
bool RCInput::bind_spektrum(int arg) const
{
int ret = PX4_ERROR;
@@ -652,8 +648,11 @@ int RCInput::custom_command(int argc, char *argv[])
const char *verb = argv[0];
if (!strcmp(verb, "bind")) {
// TODO: publish vehicle_command
bind_spektrum();
uORB::PublicationQueued<vehicle_command_s> vehicle_command_pub{ORB_ID(vehicle_command)};
vehicle_command_s vcmd{};
vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
vcmd.timestamp = hrt_absolute_time();
vehicle_command_pub.publish(vcmd);
return 0;
}