Send mavlink manual control buttons field in manual control input top…

…ic (PX4#22988) Pass along button states from manual control mavlink message in new buttons field in manual control input topic
vincentpoont2 · Apr 9, 2024 · d8fabd1 · d8fabd1
1 parent a73df47
commit d8fabd1
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diff --git a/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp b/boards/modalai/voxl2-slpi/src/drivers/elrs_led/elrs_led.cpp
@@ -125,7 +125,7 @@ void elrs_led_task()
 
  orb_copy(ORB_ID(manual_control_input), manual_control_input_fd, &setpoint_req);
 
- _cmd = (ControllerInput)setpoint_req.aux1;
+ _cmd = (ControllerInput)setpoint_req.buttons;
 
  // skip duplicate cmds
  if (_cmd == _prev_cmd) {

diff --git a/msg/ManualControlSetpoint.msg b/msg/ManualControlSetpoint.msg
@@ -37,6 +37,8 @@ float32 aux6
 
 bool sticks_moving
 
+uint16 buttons # From uint16 buttons field of Mavlink manual_control message
+
 # TOPICS manual_control_setpoint manual_control_input
 # DEPRECATED: float32 x
 # DEPRECATED: float32 y

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2089,6 +2089,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
  // For backwards compatibility at the moment interpret throttle in range [0,1000]
  manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f;
  manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f;
+ // Pass along the button states
+ manual_control_setpoint.buttons = mavlink_manual_control.buttons;
  manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
  manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
  manual_control_setpoint.valid = true;