support for booth messages - RC_CHANNELS ad RC_CHANNELS_RAW., clean code.

Author: roman-dvorak

dronekit/__init__.py

@@ -1142,31 +1142,18 @@ def listener(vehicle, name, m):
         # All keys are strings.
         self._channels = Channels(self, 8)
 
+        @self.on_message('RC_CHANNELS_RAW')
         @self.on_message('RC_CHANNELS')
         def listener(self, name, m):
             def set_rc(chnum, v):
                 '''Private utility for handling rc channel messages'''
                 # use port to allow ch nums greater than 8
-                self._channels._update_channel(str(0 * 8 + chnum), v)
-
-            set_rc(1, m.chan1_raw)
-            set_rc(2, m.chan2_raw)
-            set_rc(3, m.chan3_raw)
-            set_rc(4, m.chan4_raw)
-            set_rc(5, m.chan5_raw)
-            set_rc(6, m.chan6_raw)
-            set_rc(7, m.chan7_raw)
-            set_rc(8, m.chan8_raw)
-            set_rc(9, m.chan9_raw)
-            set_rc(10, m.chan10_raw)
-            set_rc(11, m.chan11_raw)
-            set_rc(12, m.chan12_raw)
-            set_rc(13, m.chan13_raw)
-            set_rc(14, m.chan14_raw)
-            set_rc(15, m.chan15_raw)
-            set_rc(16, m.chan16_raw)
-            set_rc(17, m.chan17_raw)
-            set_rc(18, m.chan18_raw)
+                port = 0 if name == "RC_CHANNELS" else m.port
+                self._channels._update_channel(str(port * 8 + chnum), v)
+
+            for i in range(1, (18 if name == "RC_CHANNELS" else 8)+1):
+                set_rc(i, getattr(m, "chan{}_raw".format(i)))
+
             self.notify_attribute_listeners('channels', self.channels)
 
         self._voltage = None