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mavlink: stream rename GROUND_TRUTH -> HIL_STATE_QUATERNION

This commit is contained in:
Daniel Agar 2020-10-10 19:06:45 -04:00
parent cb4d974977
commit 5fa1e8e8ba
3 changed files with 14 additions and 14 deletions
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6
src/modules/mavlink/mavlink_main.cpp
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@ -722,10 +722,10 @@ Mavlink::set_hil_enabled(bool hil_enabled)
ret = configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f); ret = configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
if (_param_sys_hitl.get() == 2) { // Simulation in Hardware enabled ? if (_param_sys_hitl.get() == 2) { // Simulation in Hardware enabled ?
configure_stream("GROUND_TRUTH", 25.0f); // HIL_STATE_QUATERNION to display the SIH configure_stream("HIL_STATE_QUATERNION", 25.0f); // ground truth to display the SIH
} else { } else {
configure_stream("GROUND_TRUTH", 0.0f); configure_stream("HIL_STATE_QUATERNION", 0.0f);
} }
} }
@ -734,7 +734,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
_hil_enabled = false; _hil_enabled = false;
ret = configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f); ret = configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
configure_stream("GROUND_TRUTH", 0.0f); configure_stream("HIL_STATE_QUATERNION", 0.0f);
} }
return ret; return ret;

8
src/modules/mavlink/mavlink_messages.cpp
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@ -118,8 +118,8 @@ using matrix::wrap_2pi;
#include "streams/ESC_STATUS.hpp" #include "streams/ESC_STATUS.hpp"
#include "streams/EXTENDED_SYS_STATE.hpp" #include "streams/EXTENDED_SYS_STATE.hpp"
#include "streams/FLIGHT_INFORMATION.hpp" #include "streams/FLIGHT_INFORMATION.hpp"
#include "streams/GROUND_TRUTH.hpp"
#include "streams/HIGH_LATENCY2.hpp" #include "streams/HIGH_LATENCY2.hpp"
#include "streams/HIL_STATE_QUATERNION.hpp"
#include "streams/OBSTACLE_DISTANCE.hpp" #include "streams/OBSTACLE_DISTANCE.hpp"
#include "streams/ORBIT_EXECUTION_STATUS.hpp" #include "streams/ORBIT_EXECUTION_STATUS.hpp"
#include "streams/PING.hpp" #include "streams/PING.hpp"
@ -4994,9 +4994,9 @@ static const StreamListItem streams_list[] = {
#if defined(HIGH_LATENCY2_HPP) #if defined(HIGH_LATENCY2_HPP)
create_stream_list_item<MavlinkStreamHighLatency2>(), create_stream_list_item<MavlinkStreamHighLatency2>(),
#endif // HIGH_LATENCY2_HPP #endif // HIGH_LATENCY2_HPP
#if defined(GROUND_TRUTH_HPP) #if defined(HIL_STATE_QUATERNION_HPP)
create_stream_list_item<MavlinkStreamGroundTruth>(), create_stream_list_item<MavlinkStreamHILStateQuaternion>(),
#endif // GROUND_TRUTH_HPP #endif // HIL_STATE_QUATERNION_HPP
#if defined(PING_HPP) #if defined(PING_HPP)
create_stream_list_item<MavlinkStreamPing>(), create_stream_list_item<MavlinkStreamPing>(),
#endif // PING_HPP #endif // PING_HPP

14
src/modules/mavlink/streams/GROUND_TRUTH.hpp → src/modules/mavlink/streams/HIL_STATE_QUATERNION.hpp
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@ -31,15 +31,15 @@
* *
****************************************************************************/ ****************************************************************************/
#ifndef GROUND_TRUTH_HPP #ifndef HIL_STATE_QUATERNION_HPP
#define GROUND_TRUTH_HPP #define HIL_STATE_QUATERNION_HPP
class MavlinkStreamGroundTruth : public MavlinkStream class MavlinkStreamHILStateQuaternion : public MavlinkStream
{ {
public: public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGroundTruth(mavlink); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHILStateQuaternion(mavlink); }
static constexpr const char *get_name_static() { return "GROUND_TRUTH"; } static constexpr const char *get_name_static() { return "HIL_STATE_QUATERNION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_STATE_QUATERNION; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_STATE_QUATERNION; }
const char *get_name() const override { return get_name_static(); } const char *get_name() const override { return get_name_static(); }
@ -55,7 +55,7 @@ public:
} }
private: private:
explicit MavlinkStreamGroundTruth(Mavlink *mavlink) : MavlinkStream(mavlink) {} explicit MavlinkStreamHILStateQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)}; uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)}; uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)};
@ -111,4 +111,4 @@ private:
} }
}; };
#endif // GROUND_TRUTH_HPP #endif // HIL_STATE_QUATERNION_HPP