Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

AP_MSP: Use scaled RC inputs instead of direct RC in #26304

Merged
merged 1 commit into from
Mar 7, 2024
Merged

AP_MSP: Use scaled RC inputs instead of direct RC in #26304

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 10 additions & 7 deletions libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1056,8 +1056,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
if (rcmap == nullptr) {
return MSP_RESULT_ERROR;
}
uint16_t values[16] = {};
rc().get_radio_in(values, ARRAY_SIZE(values));

// note: rcmap channels start at 1
float roll = rc().rc_channel(rcmap->roll()-1)->norm_input_dz();
float pitch = -rc().rc_channel(rcmap->pitch()-1)->norm_input_dz();
float yaw = rc().rc_channel(rcmap->yaw()-1)->norm_input_dz();
float throttle = rc().rc_channel(rcmap->throttle()-1)->norm_input_dz();

const struct PACKED {
uint16_t a;
Expand All @@ -1066,11 +1070,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
uint16_t t;
} rc {
// send only 4 channels, MSP order is AERT
// note: rcmap channels start at 1
a : values[rcmap->roll()-1], // A
e : values[rcmap->pitch()-1], // E
r : values[rcmap->yaw()-1], // R
t : values[rcmap->throttle()-1] // T
a : uint16_t(roll*500+1500), // A
e : uint16_t(pitch*500+1500), // E
r : uint16_t(yaw*500+1500), // R
t : uint16_t(throttle*1000+1000) // T
};

sbuf_write_data(dst, &rc, sizeof(rc));
Expand Down
Loading