Sub: send Roll/Pitch Toggle flag

ArduSub/GCS_Mavlink.cpp

@@ -140,6 +140,9 @@ bool GCS_MAVLINK_Sub::send_info()
     CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
     send_named_float("InputHold", sub.input_hold_engaged);
 
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("RollPitch", sub.roll_pitch_flag);
+
     return true;
 }
 

ArduSub/Sub.h

@@ -308,6 +308,9 @@ private:
     // Flag indicating if we are currently using input hold
     bool input_hold_engaged;
 
+    // Flag indicating if we are currently controlling Pitch and Roll instead of forward/lateral
+    bool roll_pitch_flag = false;
+
     // 3D Location vectors
     // Current location of the Sub (altitude is relative to home)
     Location current_loc;

ArduSub/joystick.cpp

@@ -24,7 +24,6 @@ const uint8_t SERVO_CHAN_1 = 9; // Pixhawk Aux1
 const uint8_t SERVO_CHAN_2 = 10; // Pixhawk Aux2
 const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3
 
-uint8_t roll_pitch_flag = false; // Flag to adjust roll/pitch instead of forward/lateral
 bool controls_reset_since_input_hold = true;
 }