From aa4232c8bb96e9a6ba675353816ca8db3b69893e Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 7 Oct 2019 11:53:21 +0200 Subject: [PATCH] mavlink: disable sending RC override 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. --- src/modules/mavlink/mavlink_messages.cpp | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 0ca223814063..ffcb07291dc5 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -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; }