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Plane: send out HIL servo updates as soon as we can 

this improves the servo responsiveness of HIL a lot
This commit is contained in:
Andrew Tridgell 2013-11-23 18:27:12 +11:00
parent 6ed493b10f
commit 17c9cedac1
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/Attitude.pde
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@ -856,6 +856,10 @@ static void set_servos(void)
} }
#if HIL_MODE != HIL_MODE_DISABLED #if HIL_MODE != HIL_MODE_DISABLED
// get the servos to the GCS immediately for HIL
if (comm_get_txspace(MAVLINK_COMM_0) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN) {
send_radio_out(MAVLINK_COMM_0);
}
if (!g.hil_servos) { if (!g.hil_servos) {
return; return;
} }
@ -887,7 +891,7 @@ static void set_servos(void)
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
g.rc_12.output_ch(CH_12); g.rc_12.output_ch(CH_12);
# endif #endif
} }
static bool demoing_servos; static bool demoing_servos;