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 10f7eff..e01fd9e 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 c3f6fd3..a836284 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);