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GCS_MAVLink: send temperature for IMUs

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This commit is contained in:
Andrew Tridgell 2019-12-09 13:25:18 +11:00
parent 04827d229c
commit 595a49eec4
2 changed files with 6 additions and 4 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -209,7 +209,7 @@ public:
virtual void send_position_target_local_ned() { };
void send_servo_output_raw();
void send_accelcal_vehicle_position(uint32_t position);
void 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));
void 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));
void send_sys_status();
void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
void send_rpm() const;

8
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1594,10 +1594,11 @@ void GCS_MAVLINK::send_raw_imu()
gyro.z * 1000.0f,
mag.x,
mag.y,
mag.z);
mag.z, 0,
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))
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))
{
const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass();
@ -1632,7 +1633,8 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
gyro.z * 1000.0f,
mag.x,
mag.y,
mag.z);
mag.z,
ins.get_temperature(instance));
}