AP_DDS client astyled

tizianofiorenzani · Sep 18, 2024 · d0ff955 · d0ff955
1 parent 215d898
commit d0ff955
Showing 1 changed file with 14 additions and 10 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -555,25 +555,29 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
         }
 
         if (rx_joy_topic.axes_size >= 4) {
-            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Received sensor_msgs/Joy: %f, %f, %f, %f",
-                          msg_prefix, rx_joy_topic.axes[0], rx_joy_topic.axes[1], rx_joy_topic.axes[2], rx_joy_topic.axes[3]);
-            const uint32_t tnow = AP_HAL::millis();
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Received %d sensor_msgs/Joy: %f, %f, %f, %f",
+                          msg_prefix, x_joy_topic.axes_size, rx_joy_topic.axes[0],
+                          rx_joy_topic.axes[1], rx_joy_topic.axes[2], rx_joy_topic.axes[3]);
+            if (rx_joy_topic.axes_size > 8U) {
+                GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "%s Only first 8 Joy Axes will be processed.", msg_prefix);
+            }
+            const uint32_t t_now = AP_HAL::millis();
 
             for (uint8_t i = 0; i < MIN(8U, rx_joy_topic.axes_size); i++) {
-
                 // Per MAVLink spec a value of UINT16_MAX means to ignore this field.
+                // Set a value of 0 to release the channel override.
                 if (static_cast<uint16_t>(rx_joy_topic.axes[i])!= UINT16_MAX) {
                     const uint16_t mapped_data = static_cast<uint16_t>(
-                        linear_interpolate(rc().channel(i)->get_radio_min(),
-                        rc().channel(i)->get_radio_max(),
-                        rx_joy_topic.axes[i],
-                        -1.0, 1.0));
-                    RC_Channels::set_override(i, mapped_data, tnow);
+                                                     linear_interpolate(rc().channel(i)->get_radio_min(),
+                                                             rc().channel(i)->get_radio_max(),
+                                                             rx_joy_topic.axes[i],
+                                                             -1.0, 1.0));
+                    RC_Channels::set_override(i, mapped_data, t_now);
                 }
             }
 
         } else {
-            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Received sensor_msgs/Joy. Axes size must be >= 4", msg_prefix);
+            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "%s Received sensor_msgs/Joy. Axes size must be >= 4", msg_prefix);
         }
         break;
     }