From 08921496ff563b9e4d52c45b82df9c5d2a8694b8 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 17 Jan 2016 19:34:08 -0800
Subject: [PATCH] Add MANUAL_CONTROL output

---
 src/comm/MockLink.cc | 12 ++++++++++++
 src/comm/MockLink.h  |  1 +
 2 files changed, 13 insertions(+)

diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc
index 10f7eff57..e01fd9e1c 100644
--- a/src/comm/MockLink.cc
+++ b/src/comm/MockLink.cc
@@ -390,6 +390,10 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
                 _handleCommandLong(msg);
                 break;
 
+            case MAVLINK_MSG_ID_MANUAL_CONTROL:
+                _handleManualControl(msg);
+                break;
+
             default:
                 break;
         }
@@ -413,6 +417,14 @@ void MockLink::_handleSetMode(const mavlink_message_t& msg)
     _mavCustomMode = request.custom_mode;
 }
 
+void MockLink::_handleManualControl(const mavlink_message_t& msg)
+{
+    mavlink_manual_control_t manualControl;
+    mavlink_msg_manual_control_decode(&msg, &manualControl);
+
+    qDebug() << "MANUAL_CONTROL" << manualControl.x << manualControl.y << manualControl.z << manualControl.r;
+}
+
 void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat)
 {
     mavlink_param_union_t   valueUnion;
diff --git a/src/comm/MockLink.h b/src/comm/MockLink.h
index c3f6fd300..a83628424 100644
--- a/src/comm/MockLink.h
+++ b/src/comm/MockLink.h
@@ -187,6 +187,7 @@ private:
     void _handleParamRequestRead(const mavlink_message_t& msg);
     void _handleFTP(const mavlink_message_t& msg);
     void _handleCommandLong(const mavlink_message_t& msg);
+    void _handleManualControl(const mavlink_message_t& msg);
     float _floatUnionForParam(int componentId, const QString& paramName);
     void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
     void _sendHomePosition(void);
-- 
2.22.0