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Send mavlink manual control buttons field in manual control input topic (#22988)

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Pass along button states from manual control mavlink message in new buttons field in manual control input topic
This commit is contained in:
Eric Katzfey
2024-04-09 12:35:42 -07:00
committed by GitHub
parent a73df4752f
commit d8fabd11d0
3 changed files with 5 additions and 1 deletions
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boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp
+1 -1
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@@ -125,7 +125,7 @@ void elrs_led_task()
orb_copy(ORB_ID(manual_control_input), manual_control_input_fd, &setpoint_req);
_cmd = (ControllerInput)setpoint_req.aux1;
_cmd = (ControllerInput)setpoint_req.buttons;
// skip duplicate cmds
if (_cmd == _prev_cmd) {
msg/ManualControlSetpoint.msg
+2
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@@ -37,6 +37,8 @@ float32 aux6
bool sticks_moving
uint16 buttons # From uint16 buttons field of Mavlink manual_control message
# TOPICS manual_control_setpoint manual_control_input
# DEPRECATED: float32 x
# DEPRECATED: float32 y
src/modules/mavlink/mavlink_receiver.cpp
+2
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@@ -2089,6 +2089,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
// For backwards compatibility at the moment interpret throttle in range [0,1000]
manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f;
manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f;
// Pass along the button states
manual_control_setpoint.buttons = mavlink_manual_control.buttons;
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
manual_control_setpoint.valid = true;