forked from Archive/PX4-Autopilot
Merge pull request #1054 from PX4/hil_pos_sp
Enable global position setpoint over USB
This commit is contained in:
commit
251760679a
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@ -17,6 +17,8 @@ mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
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usleep 100000
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usleep 100000
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mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
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mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
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usleep 100000
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usleep 100000
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mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
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usleep 100000
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# Exit shell to make it available to MAVLink
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# Exit shell to make it available to MAVLink
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exit
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exit
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@ -938,7 +938,8 @@ protected:
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void send(const hrt_abstime t)
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void send(const hrt_abstime t)
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{
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{
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if (pos_sp_triplet_sub->update(t)) {
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/* always send this message, even if it has not been updated */
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pos_sp_triplet_sub->update(t);
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mavlink_msg_global_position_setpoint_int_send(_channel,
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mavlink_msg_global_position_setpoint_int_send(_channel,
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MAV_FRAME_GLOBAL,
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MAV_FRAME_GLOBAL,
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(int32_t)(pos_sp_triplet->current.lat * 1e7),
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(int32_t)(pos_sp_triplet->current.lat * 1e7),
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@ -946,7 +947,6 @@ protected:
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(int32_t)(pos_sp_triplet->current.alt * 1000),
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(int32_t)(pos_sp_triplet->current.alt * 1000),
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(int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f));
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(int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f));
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}
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}
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}
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};
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};
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