From 7a119bc4e7af58d27c1b7c3b0ae8126cf02d1607 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Wed, 5 Nov 2014 14:20:11 -0800
Subject: [PATCH] Disregard RC_CHANNELS_RAW for signals

This removes double emit of signals.
---
 src/comm/MAVLinkSimulationLink.cc |  5 ++---
 src/uas/UAS.cc                    | 26 --------------------------
 2 files changed, 2 insertions(+), 29 deletions(-)

diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index ce9eb79b0..1bced51fc 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -438,9 +438,8 @@ void MAVLinkSimulationLink::mainloop()
 
         static int rcCounter = 0;
         if (rcCounter == 2) {
-            mavlink_rc_channels_raw_t chan;
+            mavlink_rc_channels_t chan;
             chan.time_boot_ms = 0;
-            chan.port = 0;
             chan.chan1_raw = 1000 + ((int)(fabs(x) * 1000) % 2000);
             chan.chan2_raw = 1000 + ((int)(fabs(y) * 1000) % 2000);
             chan.chan3_raw = 1000 + ((int)(fabs(z) * 1000) % 2000);
@@ -450,7 +449,7 @@ void MAVLinkSimulationLink::mainloop()
             chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f;
             chan.chan8_raw = 0;
             chan.rssi = 100;
-            mavlink_msg_rc_channels_raw_encode(systemId, componentId, &msg, &chan);
+            mavlink_msg_rc_channels_encode(systemId, componentId, &msg, &chan);
             // Allocate buffer with packet data
             bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
             //add data into datastream
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index dd3bb227f..422edb5ac 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -956,32 +956,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             emit homePositionChanged(uasId, pos.latitude / 10000000.0, pos.longitude / 10000000.0, pos.altitude / 1000.0);
         }
             break;
-        case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
-        {
-            mavlink_rc_channels_raw_t channels;
-            mavlink_msg_rc_channels_raw_decode(&message, &channels);
-
-            const unsigned int portWidth = 8; // XXX magic number
-
-            emit remoteControlRSSIChanged(channels.rssi/255.0f);
-            if (channels.chan1_raw != UINT16_MAX)
-                emit remoteControlChannelRawChanged(channels.port * portWidth + 0, channels.chan1_raw);
-            if (channels.chan2_raw != UINT16_MAX)
-                emit remoteControlChannelRawChanged(channels.port * portWidth + 1, channels.chan2_raw);
-            if (channels.chan3_raw != UINT16_MAX)
-                emit remoteControlChannelRawChanged(channels.port * portWidth + 2, channels.chan3_raw);
-            if (channels.chan4_raw != UINT16_MAX)
-                emit remoteControlChannelRawChanged(channels.port * portWidth + 3, channels.chan4_raw);
-            if (channels.chan5_raw != UINT16_MAX)
-                emit remoteControlChannelRawChanged(channels.port * portWidth + 4, channels.chan5_raw);
-            if (channels.chan6_raw != UINT16_MAX)
-                emit remoteControlChannelRawChanged(channels.port * portWidth + 5, channels.chan6_raw);
-            if (channels.chan7_raw != UINT16_MAX)
-                emit remoteControlChannelRawChanged(channels.port * portWidth + 6, channels.chan7_raw);
-            if (channels.chan8_raw != UINT16_MAX)
-                emit remoteControlChannelRawChanged(channels.port * portWidth + 7, channels.chan8_raw);
-        }
-            break;
         case MAVLINK_MSG_ID_RC_CHANNELS:
         {
             mavlink_rc_channels_t channels;
-- 
2.22.0