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Cleanup mavlink subsystem code

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This commit is contained in:
Oleg Kalachev 2025-02-28 23:12:57 +03:00
parent 5fc30dbd8a
commit dd1ea4f604
1 changed files with 9 additions and 8 deletions
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17
flix/mavlink.ino
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@ -85,14 +85,15 @@ void receiveMavlink() {
}
void handleMavlink(const void *_msg) {
mavlink_message_t *msg = (mavlink_message_t *)_msg;
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t manualControl;
mavlink_msg_manual_control_decode(msg, &manualControl);
controls[RC_CHANNEL_THROTTLE] = manualControl.z / 1000.0f;
controls[RC_CHANNEL_PITCH] = manualControl.x / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_ROLL] = manualControl.y / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_YAW] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
const mavlink_message_t &msg = *(mavlink_message_t *)_msg;
if (msg.msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t m;
mavlink_msg_manual_control_decode(&msg, &m);
controls[RC_CHANNEL_THROTTLE] = m.z / 1000.0f;
controls[RC_CHANNEL_PITCH] = m.x / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_ROLL] = m.y / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_YAW] = m.r / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_MODE] = 1; // STAB mode
controls[RC_CHANNEL_ARMED] = 1; // armed
controlsTime = t;