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Commit ad7fa354 authored by Lorenz Meier's avatar Lorenz Meier
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Fixed missing port width offset in RC channel messages

parent 559aa2dd
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Showing with 22 additions and 16 deletions
src/uas/UAS.cc
View file @ ad7fa354
......@@ -1001,30 +1001,36 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
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);
emit remoteControlChannelRawChanged(channels.port + 0, channels.chan1_raw);
emit remoteControlChannelRawChanged(channels.port + 1, channels.chan2_raw);
emit remoteControlChannelRawChanged(channels.port + 2, channels.chan3_raw);
emit remoteControlChannelRawChanged(channels.port + 3, channels.chan4_raw);
emit remoteControlChannelRawChanged(channels.port + 4, channels.chan5_raw);
emit remoteControlChannelRawChanged(channels.port + 5, channels.chan6_raw);
emit remoteControlChannelRawChanged(channels.port + 6, channels.chan7_raw);
emit remoteControlChannelRawChanged(channels.port + 7, channels.chan8_raw);
emit remoteControlChannelRawChanged(channels.port * portWidth + 0, channels.chan1_raw);
emit remoteControlChannelRawChanged(channels.port * portWidth + 1, channels.chan2_raw);
emit remoteControlChannelRawChanged(channels.port * portWidth + 2, channels.chan3_raw);
emit remoteControlChannelRawChanged(channels.port * portWidth + 3, channels.chan4_raw);
emit remoteControlChannelRawChanged(channels.port * portWidth + 4, channels.chan5_raw);
emit remoteControlChannelRawChanged(channels.port * portWidth + 5, channels.chan6_raw);
emit remoteControlChannelRawChanged(channels.port * portWidth + 6, channels.chan7_raw);
emit remoteControlChannelRawChanged(channels.port * portWidth + 7, channels.chan8_raw);
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
{
mavlink_rc_channels_scaled_t channels;
mavlink_msg_rc_channels_scaled_decode(&message, &channels);
const unsigned int portWidth = 8; // XXX magic number
emit remoteControlRSSIChanged(channels.rssi/255.0f);
emit remoteControlChannelScaledChanged(channels.port + 0, channels.chan1_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port + 1, channels.chan2_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port + 2, channels.chan3_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port + 3, channels.chan4_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port + 4, channels.chan5_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port + 5, channels.chan6_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port + 6, channels.chan7_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port + 7, channels.chan8_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port * portWidth + 1, channels.chan2_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port * portWidth + 2, channels.chan3_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port * portWidth + 3, channels.chan4_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port * portWidth + 4, channels.chan5_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port * portWidth + 5, channels.chan6_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port * portWidth + 6, channels.chan7_scaled/10000.0f);
emit remoteControlChannelScaledChanged(channels.port * portWidth + 7, channels.chan8_scaled/10000.0f);
}
break;
case MAVLINK_MSG_ID_PARAM_VALUE:
......
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