Fix RC channels count being zero, when channels values exists

Mission Planner don't ever set channel count
mavlink · Oct 25, 2024 · 40b1086 · 40b1086
1 parent b490957
commit 40b1086
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Showing 3 changed files with 8 additions and 6 deletions.
diff --git a/mavros/CMakeLists.txt b/mavros/CMakeLists.txt
@@ -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)
@@ -67,6 +69,7 @@ include_directories(
   ${mavlink_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
   ${GeographicLib_INCLUDE_DIRS}
+  ${PYTHON_INCLUDE_DIRS}
 )
 
 ## Check if the datasets are installed

diff --git a/mavros/src/plugins/rc_io.cpp b/mavros/src/plugins/rc_io.cpp
@@ -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]];")

diff --git a/mavros_extras/CMakeLists.txt b/mavros_extras/CMakeLists.txt
@@ -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)
@@ -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)