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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
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Do not ignore channel 17 and 18 from mavlink_rc_channels_override_t #23635

Open Consti10 opened 1 year ago

Consti10 commented 1 year ago

Feature request

For some unclear reason, ardupilot does not process the channels nr. 17 and 18 from the mavlink_rc_channels_override_t mavlink message.

Implementation: https://github.com/ArduPilot/ardupilot/blob/feaed97601598220e05043fd86bde6c02bc1a212/libraries/GCS_MAVLink/GCS_Common.cpp#L3648

packet.chan17_raw and packet.chan18_raw (valid values in the mavlink message itself) are ignored.

Is there any substantial reason for that ? Or is it simply an oversight that has not been noticed until now ?

IamPete1 commented 1 year ago

We only support upto 16 RC input channels.

muramura commented 1 year ago

I PR to add CHAN17 and CHAN18 to the table. This will match the MAVLINK message. I think 1-16 is fine for internal use.

Consti10 commented 1 year ago

I looked a bit more into the source code - Looks like https://github.com/ArduPilot/ardupilot/blob/95354ac5726a000d94f28475601641fda5304df3/libraries/RC_Channel/RC_Channel.h#L14

NUM_RC_CHANNELS is 16. Looks like what @IamPete1 said is correct, ardupilot only supports up to 16 channels and therefore it is probably best to keep ignoring channel 17 and 18. It could be documented though ;)