From 29e65a72943f1d42d6564c639129a92258928d2c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 8 Oct 2019 14:22:12 +1100 Subject: [PATCH] GCS_MAVLink: supply IMU temperature in mavlink extensions --- libraries/GCS_MAVLink/GCS_Common.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index e0be540b02..926818f2c7 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -1602,8 +1602,8 @@ void GCS_MAVLINK::send_raw_imu() mag.x, mag.y, mag.z, - 0, // for now, only instance 0 is sent - 0); // TODO: get the IMU temperature + 0, // we use SCALED_IMU and SCALED_IMU2 for other IMUs + int16_t(ins.get_temperature(0)*100)); } void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag, int16_t temperature)) @@ -1642,7 +1642,7 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan mag.x, mag.y, mag.z, - 0); // TODO: get the IMU temperature + int16_t(ins.get_temperature(instance)*100)); }