mirror of https://github.com/ArduPilot/ardupilot
27 lines
578 B
Mathematica
27 lines
578 B
Mathematica
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function AP_send(gyro, attitude, accel, velocity, position, time)
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global u
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if isempty(u)
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return
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end
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persistent past_time
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if isempty(past_time)
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past_time = -1;
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end
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if past_time == time
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error('Send repeat time');
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end
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past_time = time;
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% build structure representing the JSON string to be sent
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JSON.timestamp = time;
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JSON.imu.gyro = gyro;
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JSON.imu.accel_body = accel;
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JSON.position = position;
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JSON.attitude = attitude;
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JSON.velocity = velocity;
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% Report to AP
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pnet(u,'printf',sprintf('\n%s\n',jsonencode(JSON)));
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pnet(u,'writepacket');
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end
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