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SITL: update SIM_Gazebo SITL interface servo packet to have 16 floats, matching sitl_input struct.

This commit is contained in:
John Hsu 2016-09-14 16:35:48 -07:00 committed by Andrew Tridgell
parent a8cf38b366
commit fc13efa673
2 changed files with 9 additions and 6 deletions

View File

@ -48,11 +48,13 @@ Gazebo::Gazebo(const char *home_str, const char *frame_str) :
void Gazebo::send_servos(const struct sitl_input &input)
{
servo_packet pkt;
pkt.motor_speed[0] = (input.servos[0]-1000) / 1000.0f;
pkt.motor_speed[1] = (input.servos[1]-1000) / 1000.0f;
pkt.motor_speed[2] = (input.servos[2]-1000) / 1000.0f;
pkt.motor_speed[3] = (input.servos[3]-1000) / 1000.0f;
sock.sendto(&pkt, sizeof(pkt), "127.0.0.1", 9002);
// should rename servo_command
// 16 because struct sitl_input.servos is 16 large in SIM_Aircraft.h
for (unsigned i = 0; i < 16; ++i)
{
pkt.motor_speed[i] = (input.servos[i]-1000) / 1000.0f;
}
sock.sendto(&pkt, sizeof(servo_packet), "127.0.0.1", 9002);
}
/*

View File

@ -45,7 +45,8 @@ private:
packet sent to Gazebo
*/
struct servo_packet {
float motor_speed[4];
// size matches sitl_input upstream
float motor_speed[16];
};
/*