void send(const hrt_abstime t)
{
if (manual_sub->update(t)) {
mavlink_msg_manual_control_send(_channel,
mavlink_system.sysid,
manual->x * 1000,
manual->y * 1000,
manual->z * 1000,
manual->r * 1000,
0);
}
}
void send(const hrt_abstime t)
{
if (manual_sub->update(t)) {
mavlink_msg_manual_control_send(_channel,
mavlink_system.sysid,
manual->roll * 1000,
manual->pitch * 1000,
manual->yaw * 1000,
manual->throttle * 1000,
0);
}
}
void send(const hrt_abstime t)
{
struct manual_control_setpoint_s manual;
if (manual_sub->update(&manual_time, &manual)) {
mavlink_msg_manual_control_send(_channel,
mavlink_system.sysid,
manual.x * 1000,
manual.y * 1000,
manual.z * 1000,
manual.r * 1000,
0);
}
}
void
l_manual_control_setpoint(const struct listener *l)
{
struct manual_control_setpoint_s man_control;
/* copy manual control data into local buffer */
orb_copy(ORB_ID(manual_control_setpoint), mavlink_subs.man_control_sp_sub, &man_control);
if (gcs_link)
mavlink_msg_manual_control_send(MAVLINK_COMM_0,
mavlink_system.sysid,
man_control.roll * 1000,
man_control.pitch * 1000,
man_control.yaw * 1000,
man_control.throttle * 1000,
0);
}
