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Copter: report both sets of sensors in MAVLink

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Andrew Tridgell 2013-12-09 17:14:49 +11:00
parent 562c353bd7
commit f8e0f5c4f1
1 changed files with 20 additions and 0 deletions
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20
ArduCopter/GCS_Mavlink.pde
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@ -465,6 +465,26 @@ static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
mag.x, mag.x,
mag.y, mag.y,
mag.z); mag.z);
if (ins.get_gyro_count() <= 1 &&
ins.get_accel_count() <= 1 &&
compass.get_count() <= 1) {
return;
}
const Vector3f &accel2 = ins.get_accel(1);
const Vector3f &gyro2 = ins.get_gyro(1);
const Vector3f &mag2 = compass.get_field(1);
mavlink_msg_scaled_imu2_send(
chan,
millis(),
accel2.x * 1000.0f / GRAVITY_MSS,
accel2.y * 1000.0f / GRAVITY_MSS,
accel2.z * 1000.0f / GRAVITY_MSS,
gyro2.x * 1000.0f,
gyro2.y * 1000.0f,
gyro2.z * 1000.0f,
mag2.x,
mag2.y,
mag2.z);
} }
static void NOINLINE send_raw_imu2(mavlink_channel_t chan) static void NOINLINE send_raw_imu2(mavlink_channel_t chan)