MockLink.cc

{
    MockConfiguration* mockConfig = new MockConfiguration("Generic MockLink");

    mockConfig->setFirmwareType(MAV_AUTOPILOT_GENERIC);
    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
    mockConfig->setSendStatusText(sendStatusText);

    return _startMockLink(mockConfig);
}

MockLink*  MockLink::startAPMArduCopterMockLink(bool sendStatusText)
{
    MockConfiguration* mockConfig = new MockConfiguration("APM ArduCopter MockLink");

    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
    mockConfig->setSendStatusText(sendStatusText);

    return _startMockLink(mockConfig);
}

MockLink*  MockLink::startAPMArduPlaneMockLink(bool sendStatusText)
{
    MockConfiguration* mockConfig = new MockConfiguration("APM ArduPlane MockLink");

    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
    mockConfig->setVehicleType(MAV_TYPE_FIXED_WING);
    mockConfig->setSendStatusText(sendStatusText);

    return _startMockLink(mockConfig);
}

void MockLink::_sendRCChannels(void)
{
    mavlink_message_t   msg;

    mavlink_msg_rc_channels_pack(_vehicleSystemId,
                                 _vehicleComponentId,
                                 &msg,
                                 0,                     // time_boot_ms
                                 8,                     // chancount
                                 1500,                  // chan1_raw
                                 1500,                  // chan2_raw
                                 1500,                  // chan3_raw
                                 1500,                  // chan4_raw
                                 1500,                  // chan5_raw
                                 1500,                  // chan6_raw
                                 1500,                  // chan7_raw
                                 1500,                  // chan8_raw
                                 UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX,
                                 0);                    // rssi

    respondWithMavlinkMessage(msg);

}