From 9e76f9f1749abd40a16f10d2bbd32319e2cb07de Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Mon, 6 Jun 2016 18:54:47 -0700
Subject: [PATCH] Simulate RC channels

---
 src/comm/MockLink.cc | 24 ++++++++++++++++++++++++
 src/comm/MockLink.h  |  1 +
 2 files changed, 25 insertions(+)

diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc
index 63f05728e..a91506a2e 100644
--- a/src/comm/MockLink.cc
+++ b/src/comm/MockLink.cc
@@ -158,6 +158,7 @@ void MockLink::_run1HzTasks(void)
     if (_mavlinkStarted && _connected) {
         _sendHeartBeat();
         _sendVibration();
+        _sendRCChannels();
         if (_sendHomePositionDelayCount > 0) {
             // We delay home position a bit to be more realistic
             _sendHomePositionDelayCount--;
@@ -1026,3 +1027,26 @@ MockLink*  MockLink::startAPMArduPlaneMockLink(bool 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);
+
+}
diff --git a/src/comm/MockLink.h b/src/comm/MockLink.h
index 499d7613a..ef6ab0a7e 100644
--- a/src/comm/MockLink.h
+++ b/src/comm/MockLink.h
@@ -173,6 +173,7 @@ private:
     void _sendVibration(void);
     void _sendStatusTextMessages(void);
     void _respondWithAutopilotVersion(void);
+    void _sendRCChannels(void);
 
     static MockLink* _startMockLink(MockConfiguration* mockConfig);
 
-- 
2.22.0