From 71485541ec5ad8323ab4772265e8d3b48837562a Mon Sep 17 00:00:00 2001
From: Michael Carlstrom <rmc@carlstrom.com>
Date: Tue, 15 Oct 2024 20:04:51 -0400
Subject: [PATCH 1/2] built successfully

---
 mavros/src/plugins/manual_control.cpp | 22 ++++++++++++++++++++++
 mavros_msgs/msg/ManualControl.msg     | 12 ++++++++++++
 2 files changed, 34 insertions(+)

diff --git a/mavros/src/plugins/manual_control.cpp b/mavros/src/plugins/manual_control.cpp
index 8769faff9..a07924fd4 100644
--- a/mavros/src/plugins/manual_control.cpp
+++ b/mavros/src/plugins/manual_control.cpp
@@ -72,6 +72,17 @@ class ManualControlPlugin : public plugin::Plugin
     manual_control_msg.r = (manual_control.r / 1000.0);
     manual_control_msg.buttons = manual_control.buttons;
 
+    manual_control_msg.buttons2 = manual_control.buttons2;
+    manual_control_msg.enabled_extensions = manual_control.enabled_extensions;
+    manual_control_msg.s = (manual_control.s / 1000.0);
+    manual_control_msg.t = (manual_control.t / 1000.0);
+    manual_control_msg.aux1 = (manual_control.aux1 / 1000.0);
+    manual_control_msg.aux2 = (manual_control.aux2 / 1000.0);
+    manual_control_msg.aux3 = (manual_control.aux3 / 1000.0);
+    manual_control_msg.aux4 = (manual_control.aux4 / 1000.0);
+    manual_control_msg.aux5 = (manual_control.aux5 / 1000.0);
+    manual_control_msg.aux6 = (manual_control.aux6 / 1000.0);
+
     control_pub->publish(manual_control_msg);
   }
 
@@ -86,6 +97,17 @@ class ManualControlPlugin : public plugin::Plugin
     msg.z = req->z;
     msg.r = req->r;
     msg.buttons = req->buttons;
+    
+    msg.buttons2 = req->buttons2;
+    msg.enabled_extensions = req->enabled_extensions;
+    msg.s = req->s;
+    msg.t = req->t;
+    msg.aux1 = req->aux1;
+    msg.aux2 = req->aux2;
+    msg.aux3 = req->aux3;
+    msg.aux4 = req->aux4;
+    msg.aux5 = req->aux5;
+    msg.aux6 = req->aux6;
 
     uas->send_message(msg);
   }
diff --git a/mavros_msgs/msg/ManualControl.msg b/mavros_msgs/msg/ManualControl.msg
index f6db2108b..5daa5fc5c 100644
--- a/mavros_msgs/msg/ManualControl.msg
+++ b/mavros_msgs/msg/ManualControl.msg
@@ -5,3 +5,15 @@ float32 y
 float32 z
 float32 r
 uint16 buttons
+
+# -*- only available with MAVLink v2.0 -*-
+uint16 buttons2
+uint8 enabled_extensions
+float32 s
+float32 t
+float32 aux1
+float32 aux2
+float32 aux3
+float32 aux4
+float32 aux5
+float32 aux6
\ No newline at end of file

From c9427b23889f2fca0be62fc78d50a675c69303b2 Mon Sep 17 00:00:00 2001
From: Michael Carlstrom <rmc@carlstrom.com>
Date: Sat, 19 Oct 2024 20:08:32 -0400
Subject: [PATCH 2/2] cpplint

---
 mavros/src/plugins/manual_control.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mavros/src/plugins/manual_control.cpp b/mavros/src/plugins/manual_control.cpp
index a07924fd4..017e3fb44 100644
--- a/mavros/src/plugins/manual_control.cpp
+++ b/mavros/src/plugins/manual_control.cpp
@@ -97,7 +97,7 @@ class ManualControlPlugin : public plugin::Plugin
     msg.z = req->z;
     msg.r = req->r;
     msg.buttons = req->buttons;
-    
+
     msg.buttons2 = req->buttons2;
     msg.enabled_extensions = req->enabled_extensions;
     msg.s = req->s;