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ACM: MAVLINK10 uses HIL_STATE

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thanks to Michael for noticing this
This commit is contained in:
Andrew Tridgell 2012-06-04 13:31:07 +10:00
parent 6260437818
commit 13ae16e0c5
1 changed files with 5 additions and 28 deletions
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33
ArduCopter/GCS_Mavlink.pde
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@ -1847,32 +1847,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
#if HIL_MODE != HIL_MODE_DISABLED
#if MAVLINK10 != ENABLED
#if HIL_MODE != HIL_MODE_DISABLED && 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
// in HIL_ATTITUDE mode. Note that MAVLINK10 uses HIL_STATE
// instead
case MAVLINK_MSG_ID_GPS_RAW: //32
{
// decode
@ -1893,7 +1871,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
break;
}
#endif
#if HIL_MODE == HIL_MODE_ATTITUDE
case MAVLINK_MSG_ID_ATTITUDE: //30
{
@ -1934,8 +1911,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
#endif
#endif
#endif // HIL_MODE_ATTITUDE
#endif // HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED
/*
case MAVLINK_MSG_ID_HEARTBEAT:
{