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mavlink: HIL fixes, send 0 when disarmed

This commit is contained in:
Anton Babushkin 2014-03-02 12:53:46 +04:00
parent cc0f237c16
commit 624ff01018
1 changed files with 34 additions and 54 deletions
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88
src/modules/mavlink/mavlink_messages.cpp
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@ -778,65 +778,45 @@ protected:
uint32_t mavlink_custom_mode;
get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* HIL message as per MAVLink spec */
/* set number of valid outputs depending on vehicle type */
unsigned n;
switch (mavlink_system.type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
default:
n = 8;
break;
}
/* scale / assign outputs depending on system type */
if (mavlink_system.type == MAV_TYPE_QUADROTOR) {
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
((act->output[0] - 900.0f) / 600.0f) / 2.0f,
((act->output[1] - 900.0f) / 600.0f) / 2.0f,
((act->output[2] - 900.0f) / 600.0f) / 2.0f,
((act->output[3] - 900.0f) / 600.0f) / 2.0f,
-1,
-1,
-1,
-1,
mavlink_base_mode,
0);
float out[8];
} else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) {
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
((act->output[0] - 900.0f) / 600.0f) / 2.0f,
((act->output[1] - 900.0f) / 600.0f) / 2.0f,
((act->output[2] - 900.0f) / 600.0f) / 2.0f,
((act->output[3] - 900.0f) / 600.0f) / 2.0f,
((act->output[4] - 900.0f) / 600.0f) / 2.0f,
((act->output[5] - 900.0f) / 600.0f) / 2.0f,
-1,
-1,
mavlink_base_mode,
0);
for (unsigned i = 0; i < 8; i++) {
if (i < n) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
/* scale fake PWM out 900..1200 us to 0..1*/
out[i] = (act->output[i] - 900.0f) / 1200.0f;
} else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) {
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
((act->output[0] - 900.0f) / 600.0f) / 2.0f,
((act->output[1] - 900.0f) / 600.0f) / 2.0f,
((act->output[2] - 900.0f) / 600.0f) / 2.0f,
((act->output[3] - 900.0f) / 600.0f) / 2.0f,
((act->output[4] - 900.0f) / 600.0f) / 2.0f,
((act->output[5] - 900.0f) / 600.0f) / 2.0f,
((act->output[6] - 900.0f) / 600.0f) / 2.0f,
((act->output[7] - 900.0f) / 600.0f) / 2.0f,
mavlink_base_mode,
0);
} else {
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
(act->output[0] - 1500.0f) / 500.0f,
(act->output[1] - 1500.0f) / 500.0f,
(act->output[2] - 1500.0f) / 500.0f,
(act->output[3] - 1000.0f) / 1000.0f,
(act->output[4] - 1500.0f) / 500.0f,
(act->output[5] - 1500.0f) / 500.0f,
(act->output[6] - 1500.0f) / 500.0f,
(act->output[7] - 1500.0f) / 500.0f,
mavlink_base_mode,
0);
} else {
/* send 0 when disarmed */
out[i] = 0.0f;
}
} else {
out[i] = -1.0f;
}
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
}
};