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Plane: cope with a HIL_STATE packet before GPS init

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This commit is contained in:
Andrew Tridgell 2013-01-04 12:47:08 +11:00
parent 9f423a24ad
commit 2e2f96d721
1 changed files with 6 additions and 5 deletions
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11
ArduPlane/GCS_Mavlink.pde
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@ -1800,11 +1800,12 @@ mission_failed:
float vel = pythagorous2(packet.vx, packet.vy);
float cog = wrap_360_cd(ToDeg(atan2(packet.vy, packet.vx)) * 100);
// set gps hil sensor
g_gps->setHIL(packet.time_usec/1000,
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);
if (g_gps != NULL) {
// set gps hil sensor
g_gps->setHIL(packet.time_usec/1000,
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);
}
// rad/sec
Vector3f gyros;