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Manual control: Add switches

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Lorenz Meier
2015-09-04 14:56:42 +02:00
parent 6e9a460c17
commit f2a780dffd
1 changed files with 7 additions and 0 deletions
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7
src/modules/mavlink/mavlink_messages.cpp
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@@ -2057,7 +2057,14 @@ protected:
msg.y = manual.y * 1000;
msg.z = manual.z * 1000;
msg.r = manual.r * 1000;
unsigned shift = 2;
msg.buttons = 0;
msg.buttons |= (manual.mode_switch << (shift * 0));
msg.buttons |= (manual.return_switch << (shift * 1));
msg.buttons |= (manual.posctl_switch << (shift * 2));
msg.buttons |= (manual.loiter_switch << (shift * 3));
msg.buttons |= (manual.acro_switch << (shift * 4));
msg.buttons |= (manual.offboard_switch << (shift * 5));
_mavlink->send_message(MAVLINK_MSG_ID_MANUAL_CONTROL, &msg);
}