COMM_FRAME* navigation_pack_rc_channels_scaled()
{
static COMM_FRAME frame;
uint8_t port = 0;
int16_t chan7_scaled = 0;
int16_t chan8_scaled = 0;
uint8_t rssi = 0;
int16_t left_side = navigation_status.motor_values[0];
int16_t right_side = navigation_status.motor_values[1];
//get currents
static int32_t sensor_values[N_WHEELS];
/* initialize to 0 to reset the running average inside the adc readout function */
sensor_values[0] = 0;
sensor_values[1] = 0;
sensor_values[2] = 0;
sensor_values[3] = 0;
adc_read_motor_sensors(sensor_values);
uint32_t msec = ms_since_boot();
mavlink_msg_rc_channels_scaled_pack(mavlink_system.sysid, MAV_COMP_ID_PATHPLANNER, &(frame.mavlink_message),
msec, port, sensor_values[0]/100,sensor_values[1]/100, sensor_values[2]/100, sensor_values[3]/100,
chan7_scaled, chan8_scaled, left_side, right_side, rssi);
return &frame;
}
task_return_t remote_send_scaled(const remote_t* remote)
{
mavlink_message_t msg;
mavlink_msg_rc_channels_scaled_pack( remote->mavlink_stream->sysid,
remote->mavlink_stream->compid,
&msg,
time_keeper_get_millis(),
0,
remote->channels[0] * 10000.0f,
remote->channels[1] * 10000.0f,
remote->channels[2] * 10000.0f,
remote->channels[3] * 10000.0f,
remote->channels[4] * 10000.0f,
remote->channels[5] * 10000.0f,
remote->channels[6] * 10000.0f,
remote->channels[7] * 10000.0f,
remote->mode.current_desired_mode.byte );
// remote->signal_quality );
mavlink_stream_send(remote->mavlink_stream, &msg);
return TASK_RUN_SUCCESS;
}
/* Raw Servo Output Sender */
bool MAVLink::sendScaledServos(int16_t s1, int16_t s2, int16_t s3, int16_t s4, int16_t s5, int16_t s6, int16_t s7, int16_t s8, uint8_t rssi) {
mavlink_message_t msg;
mavlink_msg_rc_channels_scaled_pack(mySystemId,myComponentId,&msg,s1,s2,s3,s4,s5,s6,s7,s8,rssi);
return sendMessage(msg);
}
