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Cut case MAVLINK_MSG_ID_RC_CHANNELS content and paste into handle_message_rc_channels() method.

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This commit is contained in:
mcsauder
2019-03-05 10:29:55 -07:00
committed by Beat Küng
parent 801cbc856e
commit e43a0bbf1d
2 changed files with 15 additions and 10 deletions
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1
src/modules/simulator/simulator.h
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@@ -337,6 +337,7 @@ private:
void handle_message_hil_state_quaternion(const mavlink_message_t *msg);
void handle_message_landing_target(const mavlink_message_t *msg);
void handle_message_optical_flow(const mavlink_message_t *msg);
void handle_message_rc_channels(const mavlink_message_t *msg);
void parameters_update(bool force);
void poll_topics();

24
src/modules/simulator/simulator_mavlink.cpp
View File

@@ -314,16 +314,7 @@ void Simulator::handle_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_RC_CHANNELS:
mavlink_rc_channels_t rc_channels;
mavlink_msg_rc_channels_decode(msg, &rc_channels);
fill_rc_input_msg(&_rc_input, &rc_channels);
// publish message
if (_publish) {
int rc_multi;
orb_publish_auto(ORB_ID(input_rc), &_rc_channels_pub, &_rc_input, &rc_multi, ORB_PRIO_HIGH);
}
handle_message_rc_channels(msg);
break;
case MAVLINK_MSG_ID_LANDING_TARGET: {
@@ -539,6 +530,19 @@ void Simulator::handle_message_optical_flow(const mavlink_message_t *msg)
publish_flow_topic(&flow);
}
void Simulator::handle_message_rc_channels(const mavlink_message_t *msg)
{
mavlink_rc_channels_t rc_channels;
mavlink_msg_rc_channels_decode(msg, &rc_channels);
fill_rc_input_msg(&_rc_input, &rc_channels);
// publish message
if (_publish) {
int rc_multi;
orb_publish_auto(ORB_ID(input_rc), &_rc_channels_pub, &_rc_input, &rc_multi, ORB_PRIO_HIGH);
}
}
void Simulator::send_mavlink_message(const mavlink_message_t &aMsg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];