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Copter: removed the deprecated HIL sensors interface

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must use the new HIL_STATE message now
This commit is contained in:
Andrew Tridgell 2013-05-02 15:00:50 +10:00
parent 172d9724df
commit db57c8d7c5
1 changed files with 0 additions and 33 deletions
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33
ArduCopter/GCS_Mavlink.pde
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@ -1967,39 +1967,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
*/ */
#if HIL_MODE == HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_SENSORS
case MAVLINK_MSG_ID_RAW_IMU: // 28
{
// decode
mavlink_raw_imu_t packet;
mavlink_msg_raw_imu_decode(msg, &packet);
// set imu hil sensors
// TODO: check scaling for temp/absPress
float temp = 70;
float absPress = 1;
// cliSerial->printf_P(PSTR("accel:\t%d\t%d\t%d\n"), packet.xacc, packet.yacc, packet.zacc);
// cliSerial->printf_P(PSTR("gyro:\t%d\t%d\t%d\n"), packet.xgyro, packet.ygyro, packet.zgyro);
// rad/sec
Vector3f gyros;
gyros.x = (float)packet.xgyro / 1000.0;
gyros.y = (float)packet.ygyro / 1000.0;
gyros.z = (float)packet.zgyro / 1000.0;
// m/s/s
Vector3f accels;
accels.x = packet.xacc * (GRAVITY_MSS/1000.0);
accels.y = packet.yacc * (GRAVITY_MSS/1000.0);
accels.z = packet.zacc * (GRAVITY_MSS/1000.0);
ins.set_gyro(gyros);
ins.set_accel(accels);
compass.setHIL(packet.xmag,packet.ymag,packet.zmag);
break;
}
case MAVLINK_MSG_ID_RAW_PRESSURE: //29 case MAVLINK_MSG_ID_RAW_PRESSURE: //29
{ {
// decode // decode