Line data    Source code

       1             : 
       2             : #include "AP_RCProtocol_config.h"
       3             : 
       4             : #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
       5             : 
       6             : #include "AP_RCProtocol_MAVLinkRadio.h"
       7             : 
       8           0 : void AP_RCProtocol_MAVLinkRadio::update_radio_rc_channels(const mavlink_radio_rc_channels_t* packet)
       9             : {
      10           0 :     const uint8_t count = MIN(packet->count, MAX_RCIN_CHANNELS);
      11             : 
      12             :     uint16_t rc_chan[MAX_RCIN_CHANNELS];
      13           0 :     for (uint8_t i = 0; i < count; i++) {
      14             :         // The channel values are in centered 13 bit format. Range is [-4096,4096], center is 0.
      15             :         // According to specification, the conversion to PWM is x * 5/32 + 1500.
      16           0 :         rc_chan[i] = ((int32_t)packet->channels[i] * 5) / 32 + 1500;
      17             :     }
      18             : 
      19           0 :     bool failsafe = (packet->flags & RADIO_RC_CHANNELS_FLAGS_FAILSAFE);
      20             : 
      21           0 :     add_input(count, rc_chan, failsafe);
      22           0 : }
      23             : 
      24             : #endif // AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
      25             :