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hil sensor cleanup

This commit is contained in:
Michael Oborne 2011-10-14 18:14:32 +08:00
parent b02c3608ef
commit 6987e6c4b2
2 changed files with 6 additions and 3 deletions
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6
ArduPlane/GCS_Mavlink.pde
View File

@ -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

3
libraries/Desktop/Makefile.desktop
View File

@ -14,6 +14,9 @@ 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"