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Use backwards compatible manual_control_setpoint instead of manual_control_input

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent 423aadcc4f
commit fabf865411
30 changed files with 252 additions and 208 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -2094,12 +2094,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
return;
}
manual_control_input_s manual{};
manual_control_setpoint_s manual{};
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_input_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual.timestamp = manual.timestamp_sample = hrt_absolute_time();
_manual_control_input_pub.publish(manual);
}