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ACM: fixed HIL build for MAVLINK10

This commit is contained in:
Andrew Tridgell 2012-06-04 13:13:13 +10:00
parent 18b5933240
commit 0721089acd
1 changed files with 23 additions and 1 deletions
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24
ArduCopter/GCS_Mavlink.pde
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@ -1851,6 +1851,28 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#if MAVLINK10 != ENABLED
// This is used both as a sensor and to pass the location
// in HIL_ATTITUDE mode.
#if MAVLINK10 == ENABLED
case MAVLINK_MSG_ID_GPS_RAW_INT:
{
// decode
mavlink_gps_raw_int_t packet;
mavlink_msg_gps_raw_int_decode(msg, &packet);
// set gps hil sensor
g_gps->setHIL(packet.time_usec/1000.0,packet.lat/1.0e7,packet.lon/1.0e7,packet.alt/1000,
packet.vel/100,packet.cog/100,0,0);
if (gps_base_alt == 0) {
gps_base_alt = packet.alt/10;
}
current_loc.lng = packet.lon;
current_loc.lat = packet.lat;
current_loc.alt = g_gps->altitude - gps_base_alt;
if (!home_is_set) {
init_home();
}
break;
}
#else
case MAVLINK_MSG_ID_GPS_RAW: //32
{
// decode
@ -1859,7 +1881,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// set gps hil sensor
g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt,
packet.v,packet.hdg,0,0);
packet.v,packet.hdg,0,0);
if (gps_base_alt == 0) {
gps_base_alt = packet.alt*100;
}