GCS_MAVLink: handle RADIO_RC_CHANNELS

olliw42 · Feb 29, 2024 · d437991 · d437991
1 parent 53c2118
commit d437991
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Showing 2 changed files with 18 additions and 0 deletions.
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -690,6 +690,7 @@ class GCS_MAVLINK
     void handle_optical_flow(const mavlink_message_t &msg);
 
     void handle_manual_control(const mavlink_message_t &msg);
+    void handle_radio_rc_channels(const mavlink_message_t &msg);
 
     // default empty handling of LANDING_TARGET
     virtual void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) { }

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4189,6 +4189,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
         handle_rc_channels_override(msg);
         break;
+#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
+    case MAVLINK_MSG_ID_RADIO_RC_CHANNELS:
+        handle_radio_rc_channels(msg);
+        break;
+#endif
 #endif
 
 #if AP_OPTICALFLOW_ENABLED
@@ -6970,4 +6975,16 @@ MAV_RESULT GCS_MAVLINK::handle_control_high_latency(const mavlink_command_int_t
 }
 #endif // HAL_HIGH_LATENCY2_ENABLED
 
+#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
+void GCS_MAVLINK::handle_radio_rc_channels(const mavlink_message_t &msg)
+{
+    mavlink_radio_rc_channels_t packet;
+    mavlink_msg_radio_rc_channels_decode(&msg, &packet);
+
+#if AP_RCPROTOCOL_ENABLED
+    AP::RC().handle_radio_rc_channels(&packet);
+#endif
+}
+#endif // AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
+
 #endif  // HAL_GCS_ENABLED