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ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed).

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This commit is contained in:
rmackay9 2012-06-26 22:59:24 +09:00
parent 068fe64b9b
commit 621e020dac
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/GCS_Mavlink.pde
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@ -1924,7 +1924,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_msg_gps_raw_int_decode(msg, &packet); mavlink_msg_gps_raw_int_decode(msg, &packet);
// set gps hil sensor // set gps hil sensor
g_gps->setHIL(packet.time_usec/1000.0, g_gps->setHIL(packet.time_usec/1000,
packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3, packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3,
packet.vel*1.0e-2, packet.cog*1.0e-2, 0, 10); packet.vel*1.0e-2, packet.cog*1.0e-2, 0, 10);
break; break;
@ -1937,7 +1937,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_msg_gps_raw_decode(msg, &packet); mavlink_msg_gps_raw_decode(msg, &packet);
// set gps hil sensor // set gps hil sensor
g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt, g_gps->setHIL(packet.usec/1000,packet.lat,packet.lon,packet.alt,
packet.v,packet.hdg,0,10); packet.v,packet.hdg,0,10);
break; break;
} }
@ -1964,7 +1964,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100); float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100);
// set gps hil sensor // set gps hil sensor
g_gps->setHIL(packet.time_usec/1000.0, g_gps->setHIL(packet.time_usec/1000,
packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3, packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3,
vel*1.0e-2, cog*1.0e-2, 0, 10); vel*1.0e-2, cog*1.0e-2, 0, 10);