Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

SITL: FDM structure is no longer a network protocol structure 

remove unused fields and change comments
This commit is contained in:
Andrew Tridgell 2015-11-23 13:25:00 +11:00
parent a6ef064950
commit 585e6dabb8
2 changed files with 2 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/SITL/SIM_Aircraft.cpp
View File

@ -258,7 +258,6 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm) const
fdm.pitchDeg = degrees(p);
fdm.yawDeg = degrees(y);
fdm.airspeed = airspeed;
fdm.magic = 0x4c56414f;
}
uint64_t Aircraft::get_wall_time_us() const

7
libraries/SITL/SITL.h
View File

@ -8,10 +8,8 @@ class DataFlash_Class;
namespace SITL {
struct PACKED sitl_fdm {
// this is the packet sent by the simulator
// to the APM executable to update the simulator state
// All values are little-endian
struct sitl_fdm {
// this is the structure passed between FDM models and the main SITL code
uint64_t timestamp_us;
double latitude, longitude; // degrees
double altitude; // MSL
@ -21,7 +19,6 @@ struct PACKED sitl_fdm {
double rollRate, pitchRate, yawRate; // degrees/s/s in body frame
double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
double airspeed; // m/s
uint32_t magic; // 0x4c56414f
};
// number of rc output channels