From 6987e6c4b2c56e3f32980ec858bf7a2feb13af50 Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Fri, 14 Oct 2011 18:14:32 +0800 Subject: [PATCH] hil sensor cleanup --- ArduPlane/GCS_Mavlink.pde | 6 +++--- libraries/Desktop/Makefile.desktop | 3 +++ 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde index d9149c0b06..e87af0945c 100644 --- a/ArduPlane/GCS_Mavlink.pde +++ b/ArduPlane/GCS_Mavlink.pde @@ -1401,8 +1401,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) // TODO: check scaling for temp/absPress float temp = 70; float absPress = 1; - Serial.printf_P(PSTR("accel: %d %d %d\n"), packet.xacc, packet.yacc, packet.zacc); - Serial.printf_P(PSTR("gyro: %d %d %d\n"), packet.xgyro, packet.ygyro, packet.zgyro); + //Serial.printf_P(PSTR("accel: %d %d %d\n"), packet.xacc, packet.yacc, packet.zacc); + //Serial.printf_P(PSTR("gyro: %d %d %d\n"), packet.xgyro, packet.ygyro, packet.zgyro); // rad/sec Vector3f gyros; @@ -1432,7 +1432,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) // set pressure hil sensor // TODO: check scaling float temp = 70; - barometer.setHIL(temp,packet.press_diff1); + barometer.setHIL(temp,packet.press_diff1 + 101325); break; } #endif // HIL_MODE diff --git a/libraries/Desktop/Makefile.desktop b/libraries/Desktop/Makefile.desktop index e8b390726b..890fedee2f 100644 --- a/libraries/Desktop/Makefile.desktop +++ b/libraries/Desktop/Makefile.desktop @@ -13,6 +13,9 @@ nogps: hil: make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED" + +hilsen: + make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED" hilnocli: make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"