dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge pull request #1054 from PX4/hil_pos_sp 

Enable global position setpoint over USB
This commit is contained in:
Thomas Gubler 2014-06-11 08:20:31 +02:00
parent 92766a8626 064a75a3c2
commit 251760679a
2 changed files with 10 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ROMFS/px4fmu_common/init.d/rc.usb
View File

@ -17,6 +17,8 @@ mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
usleep 100000
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
usleep 100000
# Exit shell to make it available to MAVLink
exit

16
src/modules/mavlink/mavlink_messages.cpp
View File

@ -938,14 +938,14 @@ protected:
void send(const hrt_abstime t)
{
if (pos_sp_triplet_sub->update(t)) {
mavlink_msg_global_position_setpoint_int_send(_channel,
MAV_FRAME_GLOBAL,
(int32_t)(pos_sp_triplet->current.lat * 1e7),
(int32_t)(pos_sp_triplet->current.lon * 1e7),
(int32_t)(pos_sp_triplet->current.alt * 1000),
(int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f));
}
/* always send this message, even if it has not been updated */
pos_sp_triplet_sub->update(t);
mavlink_msg_global_position_setpoint_int_send(_channel,
MAV_FRAME_GLOBAL,
(int32_t)(pos_sp_triplet->current.lat * 1e7),
(int32_t)(pos_sp_triplet->current.lon * 1e7),
(int32_t)(pos_sp_triplet->current.alt * 1000),
(int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f));
}
};