mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 10:46:33 +08:00
mavlink: move RC_CHANNELS to separate streams header
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
48be6962d1
commit
6b1d02feb7
@@ -70,7 +70,6 @@
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/geofence_result.h>
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#include <uORB/topics/geofence_result.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/input_rc.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/sensor_baro.h>
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#include <uORB/topics/sensor_baro.h>
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#include <uORB/topics/sensor_gps.h>
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#include <uORB/topics/sensor_gps.h>
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@@ -124,6 +123,7 @@ using matrix::wrap_2pi;
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#include "streams/PING.hpp"
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#include "streams/PING.hpp"
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#include "streams/PROTOCOL_VERSION.hpp"
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#include "streams/PROTOCOL_VERSION.hpp"
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#include "streams/RAW_RPM.hpp"
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#include "streams/RAW_RPM.hpp"
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#include "streams/RC_CHANNELS.hpp"
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#include "streams/STATUSTEXT.hpp"
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#include "streams/STATUSTEXT.hpp"
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#include "streams/STORAGE_INFORMATION.hpp"
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#include "streams/STORAGE_INFORMATION.hpp"
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#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
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#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
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@@ -3499,90 +3499,6 @@ protected:
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}
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}
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};
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};
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class MavlinkStreamRCChannels : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamRCChannels::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "RC_CHANNELS";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_RC_CHANNELS;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamRCChannels(mavlink);
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}
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unsigned get_size() override
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{
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return _rc_sub.advertised() ? (MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
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}
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private:
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uORB::Subscription _rc_sub{ORB_ID(input_rc)};
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/* do not allow top copying this class */
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MavlinkStreamRCChannels(MavlinkStreamRCChannels &) = delete;
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MavlinkStreamRCChannels &operator = (const MavlinkStreamRCChannels &) = delete;
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protected:
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explicit MavlinkStreamRCChannels(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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input_rc_s rc;
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if (_rc_sub.update(&rc)) {
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/* send RC channel data and RSSI */
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mavlink_rc_channels_t msg{};
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msg.time_boot_ms = rc.timestamp / 1000;
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msg.chancount = rc.channel_count;
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msg.chan1_raw = (rc.channel_count > 0) ? rc.values[0] : UINT16_MAX;
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msg.chan2_raw = (rc.channel_count > 1) ? rc.values[1] : UINT16_MAX;
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msg.chan3_raw = (rc.channel_count > 2) ? rc.values[2] : UINT16_MAX;
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msg.chan4_raw = (rc.channel_count > 3) ? rc.values[3] : UINT16_MAX;
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msg.chan5_raw = (rc.channel_count > 4) ? rc.values[4] : UINT16_MAX;
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msg.chan6_raw = (rc.channel_count > 5) ? rc.values[5] : UINT16_MAX;
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msg.chan7_raw = (rc.channel_count > 6) ? rc.values[6] : UINT16_MAX;
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msg.chan8_raw = (rc.channel_count > 7) ? rc.values[7] : UINT16_MAX;
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msg.chan9_raw = (rc.channel_count > 8) ? rc.values[8] : UINT16_MAX;
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msg.chan10_raw = (rc.channel_count > 9) ? rc.values[9] : UINT16_MAX;
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msg.chan11_raw = (rc.channel_count > 10) ? rc.values[10] : UINT16_MAX;
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msg.chan12_raw = (rc.channel_count > 11) ? rc.values[11] : UINT16_MAX;
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msg.chan13_raw = (rc.channel_count > 12) ? rc.values[12] : UINT16_MAX;
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msg.chan14_raw = (rc.channel_count > 13) ? rc.values[13] : UINT16_MAX;
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msg.chan15_raw = (rc.channel_count > 14) ? rc.values[14] : UINT16_MAX;
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msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
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msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
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msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
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msg.rssi = (rc.channel_count > 0) ? rc.rssi : 0;
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mavlink_msg_rc_channels_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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class MavlinkStreamCameraCapture : public MavlinkStream
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class MavlinkStreamCameraCapture : public MavlinkStream
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{
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{
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public:
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public:
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@@ -3699,7 +3615,9 @@ static const StreamListItem streams_list[] = {
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#if defined(ATTITUDE_TARGET_HPP)
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#if defined(ATTITUDE_TARGET_HPP)
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create_stream_list_item<MavlinkStreamAttitudeTarget>(),
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create_stream_list_item<MavlinkStreamAttitudeTarget>(),
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#endif // ATTITUDE_TARGET_HPP
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#endif // ATTITUDE_TARGET_HPP
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#if defined(RC_CHANNELS_HPP)
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create_stream_list_item<MavlinkStreamRCChannels>(),
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create_stream_list_item<MavlinkStreamRCChannels>(),
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#endif // RC_CHANNELS_HPP
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#if defined(MANUAL_CONTROL_HPP)
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#if defined(MANUAL_CONTROL_HPP)
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create_stream_list_item<MavlinkStreamManualControl>(),
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create_stream_list_item<MavlinkStreamManualControl>(),
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#endif // MANUAL_CONTROL_HPP
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#endif // MANUAL_CONTROL_HPP
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@@ -0,0 +1,98 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef RC_CHANNELS_HPP
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#define RC_CHANNELS_HPP
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#include <uORB/topics/input_rc.h>
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class MavlinkStreamRCChannels : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamRCChannels(mavlink); }
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static constexpr const char *get_name_static() { return "RC_CHANNELS"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_RC_CHANNELS; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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return _input_rc_sub.advertised() ? (MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
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}
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private:
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explicit MavlinkStreamRCChannels(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _input_rc_sub{ORB_ID(input_rc)};
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bool send() override
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{
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input_rc_s rc;
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if (_input_rc_sub.update(&rc)) {
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// send RC channel data and RSSI
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mavlink_rc_channels_t msg{};
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msg.time_boot_ms = rc.timestamp / 1000;
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msg.chancount = rc.channel_count;
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msg.chan1_raw = (rc.channel_count > 0) ? rc.values[0] : UINT16_MAX;
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msg.chan2_raw = (rc.channel_count > 1) ? rc.values[1] : UINT16_MAX;
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msg.chan3_raw = (rc.channel_count > 2) ? rc.values[2] : UINT16_MAX;
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msg.chan4_raw = (rc.channel_count > 3) ? rc.values[3] : UINT16_MAX;
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msg.chan5_raw = (rc.channel_count > 4) ? rc.values[4] : UINT16_MAX;
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msg.chan6_raw = (rc.channel_count > 5) ? rc.values[5] : UINT16_MAX;
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msg.chan7_raw = (rc.channel_count > 6) ? rc.values[6] : UINT16_MAX;
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msg.chan8_raw = (rc.channel_count > 7) ? rc.values[7] : UINT16_MAX;
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msg.chan9_raw = (rc.channel_count > 8) ? rc.values[8] : UINT16_MAX;
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msg.chan10_raw = (rc.channel_count > 9) ? rc.values[9] : UINT16_MAX;
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msg.chan11_raw = (rc.channel_count > 10) ? rc.values[10] : UINT16_MAX;
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msg.chan12_raw = (rc.channel_count > 11) ? rc.values[11] : UINT16_MAX;
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msg.chan13_raw = (rc.channel_count > 12) ? rc.values[12] : UINT16_MAX;
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msg.chan14_raw = (rc.channel_count > 13) ? rc.values[13] : UINT16_MAX;
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msg.chan15_raw = (rc.channel_count > 14) ? rc.values[14] : UINT16_MAX;
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msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
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msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
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msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
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msg.rssi = (rc.channel_count > 0) ? rc.rssi : 0;
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mavlink_msg_rc_channels_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // RC_CHANNELS_HPP
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