Add option to send RC_CHANNELS Mavlink telemetry message by default.

mpaperno · Nov 13, 2016 · 610dec8 · 610dec8
1 parent f8ef7fb
commit 610dec8
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Showing 5 changed files with 9 additions and 2 deletions.
diff --git a/CHANGES.md b/CHANGES.md
@@ -10,9 +10,11 @@ This file describes changes in the firmware, typically since the previous minor
 	! : important change, possible danger, change of default behavior, etc.
 
 
-##### 7.1.1924 - Oct. 28, 2016 - `feature_integration` branch
+##### 7.1.1925 - Nov. 13, 2016 - `feature_integration` branch
 
 `*` Fix new YAW deadband parameter not implemented correctly.  
+`~` Adjust yaw controls for smoother manual operation around stick deadband area.  
+`+` Add new option to send RC_CHANNELS Mavlink telemetry message by default (eg. for minimOSD).  
 
 ##### 7.1.1923 - Apr. 30, 2016 - `feature_integration` branch
 

diff --git a/src/aq_mavlink.c b/src/aq_mavlink.c
@@ -930,6 +930,9 @@ void mavlinkInit(void) {
     mavlinkData.streams[MAV_DATA_STREAM_EXTRA3].dfltInterval = AQMAVLINK_STREAM_RATE_EXTRA3;
     mavlinkData.streams[MAV_DATA_STREAM_PROPULSION].dfltInterval = AQMAVLINK_STREAM_RATE_PROPULSION;
 
+    if (configCheckFlag(CONFIG_FLAG_MVLNK_STREAM_RC) && !mavlinkData.streams[MAV_DATA_STREAM_RC_CHANNELS].dfltInterval)
+	mavlinkData.streams[MAV_DATA_STREAM_RC_CHANNELS].dfltInterval = 1e6L;
+
     // turn on streams & spread them out
     micros = timerMicros();
     for (i = 0; i < AQMAVLINK_TOTAL_STREAMS; i++) {

diff --git a/src/buildnum.h b/src/buildnum.h
@@ -1 +1 @@
-#define BUILDNUMBER 1924
+#define BUILDNUMBER 1925
diff --git a/src/config.h b/src/config.h
@@ -451,6 +451,7 @@ enum configFlags {
     CONFIG_FLAG_DISABLE_MSC     = (1<<3),   // disable mass storage component on USB connection
     CONFIG_FLAG_INVRT_TCUT_AUTO = (1<<4),   // sharply scale (cut) throttle when inverted and in altitude-hold
     CONFIG_FLAG_INVRT_TCUT_MAN  = (1<<5),   // cut throttle when inverted in manual modes
+    CONFIG_FLAG_MVLNK_STREAM_RC = (1<<6),   // send Mavlink RC Channels message by default
 };
 
 typedef struct {

diff --git a/src/config_default.h b/src/config_default.h
@@ -24,6 +24,7 @@
 //    b3: 1 = disable mass storage component (MSC) on USB connection (allows logging/etc)
 //    b4: scale down (cut) throttle when inverted and in altitude-hold mode
 //    b5: scale down throttle when inverted in manual modes
+//    b6: send mavlink radio channels message by default (eg. for minimOSD)
 #define DEFAULT_CONFIG_FLAGS	    (0 | CONFIG_FLAG_INVRT_TCUT_AUTO)
 
 // Remote control adjustable parameters.  24 bits: SSSS_SSSS_CCCC_CCPP_PPPP_PPPP