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AntennaTracker: added sending on SIMSTATE in SITL

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This commit is contained in:
Andrew Tridgell 2014-03-13 07:30:25 +11:00
parent aaf22457e5
commit 59c21fff88
1 changed files with 15 additions and 1 deletions
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16
Tools/AntennaTracker/GCS_Mavlink.pde
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@ -269,6 +269,15 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
}
// report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
sitl.simstate_send(chan);
#endif
}
// try to send a message, return false if it won't fit in the serial tx buffer
static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
{
@ -339,6 +348,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
send_ahrs(chan);
break;
case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate(chan);
break;
case MSG_HWSTATUS:
CHECK_PAYLOAD_SIZE(HWSTATUS);
send_hwstatus(chan);
@ -354,7 +368,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
case MSG_SYSTEM_TIME:
case MSG_LIMITS_STATUS:
case MSG_FENCE_STATUS:
case MSG_SIMSTATE:
case MSG_WIND:
case MSG_RANGEFINDER:
break; // just here to prevent a warning
@ -633,6 +646,7 @@ GCS_MAVLINK::data_stream_send(void)
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
send_message(MSG_HWSTATUS);
send_message(MSG_SIMSTATE);
}
}