Merge branch 'master' of https://code.google.com/p/ardupilot-mega

ArduCopter/ArduCopter.pde

@@ -773,7 +773,7 @@ static void fifty_hz_loop()
 		sonar_alt = sonar.read();
 	}
 
-	#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE != HIL_MODE_DISABLED
+	#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE != HIL_MODE_DISABLED && FRAME_CONFIG != HELI_FRAME
 		// HIL for a copter needs very fast update of the servo values
 		hil.send_message(MSG_RADIO_OUT);
 	#endif

ArduCopter/GCS_Mavlink.pde

@@ -989,6 +989,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			break;
 		}
 #endif
+*/
 #if HIL_MODE == HIL_MODE_SENSORS
 
     case MAVLINK_MSG_ID_RAW_IMU:
@@ -1036,7 +1037,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 #endif // HIL_MODE
-*/
 	} // end switch
 } // end handle mavlink
 

ArduCopter/Mavlink_Common.h

@@ -135,17 +135,36 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
     const uint8_t rssi = 1;
     // normalized values scaled to -10000 to 10000
     // This is used for HIL.  Do not change without discussing with HIL maintainers
-    mavlink_msg_rc_channels_scaled_send(
+    
+    #if FRAME_CONFIG ==	HELI_FRAME 
+    
+        mavlink_msg_rc_channels_scaled_send(
         chan,
-        10000 * g.rc_1.norm_output(),
-        10000 * g.rc_2.norm_output(),
-        10000 * g.rc_3.norm_output(),
-        10000 * g.rc_4.norm_output(),
+        g.rc_1.servo_out, 
+        g.rc_2.servo_out, 
+        g.rc_3.radio_out, 
+        g.rc_4.servo_out,
         0,
         0,
         0,
         0,
         rssi);
+    
+    #else
+    
+    mavlink_msg_rc_channels_scaled_send(
+        chan,
+        g.rc_1.servo_out,
+        g.rc_2.servo_out,
+        g.rc_3.radio_out,
+        g.rc_4.servo_out,
+		10000 * g.rc_1.norm_output(),
+        10000 * g.rc_2.norm_output(),
+        10000 * g.rc_3.norm_output(),
+        10000 * g.rc_4.norm_output(),
+        rssi);
+        
+     #endif
 }
 
 static void NOINLINE send_radio_in(mavlink_channel_t chan)