From 86d2a9ffdb743ce632708a69b73e7288db9a009f Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Wed, 4 Apr 2012 22:52:26 +0900
Subject: [PATCH] ArduCopter - GCS_Mavlink.pde - changed output to ground
station to use new AP_Motor's class motors array inplace of the global
"motor_out" array.
---
ArduCopter/GCS_Mavlink.pde | 20 ++++++++++----------
1 file changed, 10 insertions(+), 10 deletions(-)
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 445716b51..f6692591d 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -74,7 +74,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
uint8_t status = MAV_STATE_ACTIVE;
- if (!motor_armed) {
+ if (!motors.armed()) {
status = MAV_STATE_STANDBY;
}
@@ -197,7 +197,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
#else
#if X_PLANE == ENABLED
/* update by JLN for X-Plane HIL */
- if(motor_armed == true && motor_auto_armed == true){
+ if(motors.armed() && motors.auto_armed()){
mavlink_msg_rc_channels_scaled_send(
chan,
g.rc_1.servo_out,
@@ -259,14 +259,14 @@ static void NOINLINE send_radio_out(mavlink_channel_t chan)
{
mavlink_msg_servo_output_raw_send(
chan,
- motor_out[0],
- motor_out[1],
- motor_out[2],
- motor_out[3],
- motor_out[4],
- motor_out[5],
- motor_out[6],
- motor_out[7]);
+ motors.motor_out[AP_MOTORS_MOT_1],
+ motors.motor_out[AP_MOTORS_MOT_2],
+ motors.motor_out[AP_MOTORS_MOT_3],
+ motors.motor_out[AP_MOTORS_MOT_4],
+ motors.motor_out[AP_MOTORS_MOT_5],
+ motors.motor_out[AP_MOTORS_MOT_6],
+ motors.motor_out[AP_MOTORS_MOT_7],
+ motors.motor_out[AP_MOTORS_MOT_8]);
}
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
--
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