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ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)

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This commit is contained in:
rmackay9 2012-06-26 22:50:17 +09:00
parent 91cde15c27
commit c034e38cbd
5 changed files with 7 additions and 7 deletions
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6
ArduCopter/GCS_Mavlink.pde
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@ -1877,7 +1877,7 @@ 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,0,0); packet.v,packet.hdg,0,0);
if (gps_base_alt == 0) { if (gps_base_alt == 0) {
gps_base_alt = packet.alt*100; gps_base_alt = packet.alt*100;
@ -1944,7 +1944,7 @@ 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);
@ -2006,7 +2006,7 @@ 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,0,0); packet.v,packet.hdg,0,0);
break; break;
} }

2
libraries/AP_GPS/AP_GPS_HIL.cpp
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@ -38,7 +38,7 @@ bool AP_GPS_HIL::read(void)
return result; return result;
} }
void AP_GPS_HIL::setHIL(long _time, float _latitude, float _longitude, float _altitude, void AP_GPS_HIL::setHIL(uint32_t _time, float _latitude, float _longitude, float _altitude,
float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats) float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
{ {
time = _time; time = _time;

2
libraries/AP_GPS/AP_GPS_HIL.h
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@ -30,7 +30,7 @@ public:
* @param speed_3d - ground speed in meters/second * @param speed_3d - ground speed in meters/second
* @param altitude - altitude in meters * @param altitude - altitude in meters
*/ */
virtual void setHIL(long time, float latitude, float longitude, float altitude, virtual void setHIL(uint32_t time, float latitude, float longitude, float altitude,
float ground_speed, float ground_course, float speed_3d, uint8_t num_sats); float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
private: private:

2
libraries/AP_GPS/GPS.cpp
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@ -70,7 +70,7 @@ GPS::update(void)
} }
void void
GPS::setHIL(long _time, float _latitude, float _longitude, float _altitude, GPS::setHIL(uint32_t _time, float _latitude, float _longitude, float _altitude,
float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats) float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
{ {
} }

2
libraries/AP_GPS/GPS.h
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@ -112,7 +112,7 @@ public:
bool print_errors; ///< deprecated bool print_errors; ///< deprecated
// HIL support // HIL support
virtual void setHIL(long time, float latitude, float longitude, float altitude, virtual void setHIL(uint32_t time, float latitude, float longitude, float altitude,
float ground_speed, float ground_course, float speed_3d, uint8_t num_sats); float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
/// Time in milliseconds after which we will assume the GPS is no longer /// Time in milliseconds after which we will assume the GPS is no longer