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mavlink: disable sending RC override
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This was added to enable a Pixhawk to be used as an RC input for e.g.
SITL. As far as we're aware of that's not really used. However, sending
this can cause issues if multiple Pixhawks are in the same network.
Also, is uses up some of the MAVLink bandwidth.

Therefore, it's probably best to remove that feature for now.
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julianoes authored and dagar committed Oct 7, 2019
1 parent 9a4a02a commit 741f678
Showing 1 changed file with 0 additions and 17 deletions.
17 changes: 0 additions & 17 deletions src/modules/mavlink/mavlink_messages.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -3533,23 +3533,6 @@ class MavlinkStreamRCChannels : public MavlinkStream
msg.rssi = (rc.channel_count > 0) ? rc.rssi : 0;

mavlink_msg_rc_channels_send_struct(_mavlink->get_channel(), &msg);

/* send override message - harmless if connected to GCS, allows to connect a board to a Linux system */
/* http://mavlink.org/messages/common#RC_CHANNELS_OVERRIDE */
mavlink_rc_channels_override_t over = {};
over.target_system = mavlink_system.sysid;
over.target_component = 0;
over.chan1_raw = msg.chan1_raw;
over.chan2_raw = msg.chan2_raw;
over.chan3_raw = msg.chan3_raw;
over.chan4_raw = msg.chan4_raw;
over.chan5_raw = msg.chan5_raw;
over.chan6_raw = msg.chan6_raw;
over.chan7_raw = msg.chan7_raw;
over.chan8_raw = msg.chan8_raw;

mavlink_msg_rc_channels_override_send_struct(_mavlink->get_channel(), &over);

return true;
}

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