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px4-firmware
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Fixed HIL handling

This commit is contained in:
Lorenz Meier 2013-07-05 11:43:42 +02:00
parent 2cfe9ee1b4
commit 7ca0698a6b
2 changed files with 4 additions and 3 deletions
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5
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -416,7 +416,8 @@ handle_message(mavlink_message_t *msg)
airspeed.timestamp = hrt_absolute_time(); airspeed.timestamp = hrt_absolute_time();
float ias = calc_indicated_airspeed(imu.diff_pressure); float ias = calc_indicated_airspeed(imu.diff_pressure);
float tas = calc_true_airspeed_from_indicated(ias, imu.abs_pressure, imu.temperature); // XXX need to fix this
float tas = ias;
airspeed.indicated_airspeed_m_s = ias; airspeed.indicated_airspeed_m_s = ias;
airspeed.true_airspeed_m_s = tas; airspeed.true_airspeed_m_s = tas;
@ -426,7 +427,7 @@ handle_message(mavlink_message_t *msg)
} else { } else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
} }
warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); //warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
/* publish */ /* publish */
if (pub_hil_sensors > 0) { if (pub_hil_sensors > 0) {

2
src/modules/mavlink/orb_listener.c
View File

@ -196,7 +196,7 @@ l_sensor_combined(const struct listener *l)
raw.gyro_rad_s[1], raw.gyro_rad_s[2], raw.gyro_rad_s[1], raw.gyro_rad_s[2],
raw.magnetometer_ga[0], raw.magnetometer_ga[0],
raw.magnetometer_ga[1], raw.magnetometer_ga[2], raw.magnetometer_ga[1], raw.magnetometer_ga[2],
raw.baro_pres_mbar, 0 /* no diff pressure yet */, raw.baro_pres_mbar, raw.differential_pressure_pa,
raw.baro_alt_meter, raw.baro_temp_celcius, raw.baro_alt_meter, raw.baro_temp_celcius,
fields_updated); fields_updated);