From 74d37a3713bff40d9266ade4602cb2ddfeb2bbc2 Mon Sep 17 00:00:00 2001 From: rmackay9 Date: Tue, 26 Jun 2012 22:59:24 +0900 Subject: [PATCH] ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed). --- ArduPlane/GCS_Mavlink.pde | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde index 49b515d498..e67fe6de46 100644 --- a/ArduPlane/GCS_Mavlink.pde +++ b/ArduPlane/GCS_Mavlink.pde @@ -1924,7 +1924,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) mavlink_msg_gps_raw_int_decode(msg, &packet); // 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.vel*1.0e-2, packet.cog*1.0e-2, 0, 10); break; @@ -1937,7 +1937,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) mavlink_msg_gps_raw_decode(msg, &packet); // 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,0,10); break; } @@ -1964,7 +1964,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100); // 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, vel*1.0e-2, cog*1.0e-2, 0, 10);