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Fix RC channels count being zero, when channels values exists #2006

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Fix RC channels count being zero, when channels values exists #2006

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3 changes: 3 additions & 0 deletions mavros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@ set(CMAKE_CXX_EXTENSIONS ON)
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)

find_package(PythonLibs REQUIRED)

# find mavros dependencies
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
Expand Down Expand Up @@ -67,6 +69,7 @@ include_directories(
${mavlink_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${GeographicLib_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIRS}
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What for? There no native python extension or calling python code from the c++.

)

## Check if the datasets are installed
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9 changes: 3 additions & 6 deletions mavros/src/plugins/rc_io.cpp
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Expand Up @@ -127,20 +127,17 @@ class RCIOPlugin : public plugin::Plugin
RCLCPP_INFO_EXPRESSION(
get_logger(), !has_rc_channels_msg.exchange(
true), "RC_CHANNELS message detected!");

if (channels.chancount > MAX_CHANCNT) {
RCLCPP_WARN_THROTTLE(
get_logger(), *get_clock(), 60000,
"FCU receives %u RC channels, but RC_CHANNELS can store %zu",
channels.chancount, MAX_CHANCNT);

channels.chancount = MAX_CHANCNT;
}

raw_rc_in.resize(channels.chancount);
raw_rc_in.resize(MAX_CHANCNT);

// switch works as start point selector.
switch (channels.chancount) {
switch (MAX_CHANCNT) {
// [[[cog:
// for i in range(18, 0, -1):
// cog.outl(f"case {i}: raw_rc_in[{i - 1}] = channels.chan{i}_raw; [[fallthrough]];")
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2 changes: 2 additions & 0 deletions mavros_extras/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ set(CMAKE_C_EXTENSIONS ON)
set(CMAKE_CXX_EXTENSIONS ON)

find_package(ament_cmake REQUIRED)
find_package(PythonLibs REQUIRED)

# find mavros dependencies
find_package(rclcpp REQUIRED)
Expand Down Expand Up @@ -68,6 +69,7 @@ include_directories(
${mavlink_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${GeographicLib_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIRS}
)

if(rclcpp_VERSION VERSION_LESS 9.0.0)
Expand Down