Add support for ednging 'sololink'-style UDP packets

no actually used in ArduPilot for Solo, but is used in intel aero.

Author: peterbarker

Diff for: MAVProxy/mavproxy.py

@@ -335,6 +335,8 @@ def __init__(self):
 
         # SITL output
         self.sitl_output = None
+        # "sololink" (used by intel aero) UDP RC protocol
+        self.rc_sololink_output = None
 
         self.mav_param_by_sysid = {}
         self.mav_param_by_sysid[(self.settings.target_system, self.settings.target_component)] = mavparm.MAVParmDict()
@@ -1318,6 +1320,7 @@ def run_startup_scripts():
     parser.add_option("--baudrate", dest="baudrate", type='int',
                       help="default serial baud rate", default=57600)
     parser.add_option("--sitl", dest="sitl", default=None, help="SITL output port")
+    parser.add_option("--rc-sololink", dest="rc_sololink", default=None, help="Connection string for 'SoloLink'-style UDP RC")
     parser.add_option("--streamrate", dest="streamrate", default=4, type='int',
                       help="MAVLink stream rate")
     parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int',
@@ -1508,6 +1511,9 @@ def quit_handler(signum=None, frame=None):
     if opts.sitl:
         mpstate.sitl_output = mavutil.mavudp(opts.sitl, input=False)
 
+    if opts.rc_sololink:
+        mpstate.rc_sololink_output = mavutil.mavudp(opts.rc_sololink, input=False)
+
     mpstate.settings.streamrate = opts.streamrate
     mpstate.settings.streamrate2 = opts.streamrate
 

Diff for: MAVProxy/modules/lib/mp_module.py

@@ -112,6 +112,10 @@ def vehicle_name(self):
     def sitl_output(self):
         return self.mpstate.sitl_output
 
+    @property
+    def rc_sololink_output(self):
+        return self.mpstate.rc_sololink_output
+
     @property
     def target_system(self):
         return self.settings.target_system

Diff for: MAVProxy/modules/mavproxy_rc.py

@@ -7,6 +7,7 @@
 
 import struct
 import sys
+import time
 
 from pymavlink import mavutil
 from MAVProxy.modules.lib import mp_module
@@ -40,6 +41,8 @@ def __init__(self, mpstate):
         self.rcin_gui = None
         self.init_gui_menus()
 
+        self.rc_sololink_oputput_seq = 0
+
     def init_gui_menus(self):
         '''initialise menus for console'''
         self.menu_added_console = False
@@ -112,11 +115,29 @@ def mavlink_packet(self, m):
 
     def send_rc(self):
         '''send RC override packet'''
+        sent : bool = False
         if self.sitl_output:
             chan16 = self.override[:16]
             buf = struct.pack('<HHHHHHHHHHHHHHHH', *chan16)
             self.sitl_output.write(buf)
-        else:
+            sent = True
+
+        if self.rc_sololink_output:
+            chan8 = self.override[:8]
+            # this is the inverse of a transform done to the inputs by
+            # SoloLink backend:
+            tmp0 = chan8[0]
+            chan8[0] = chan8[2]
+            chan8[2] = chan8[1]
+            chan8[1] = tmp0
+            buf = struct.pack('<QHHHHHHHHH', int(time.time()*1000000), self.rc_sololink_oputput_seq, *chan8)
+            self.rc_sololink_oputput_seq += 1
+            if self.rc_sololink_oputput_seq > 65535:
+                self.rc_sololink_oputput_seq = 0
+            self.rc_sololink_output.write(buf)
+            sent = True
+
+        if not sent:
             chan18 = self.override[:18]
             self.master.mav.rc_channels_override_send(self.target_system,
                                                       self.target_component,