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

read hil sensor message instead of highres imu message

This commit is contained in:
Roman Bapst 2015-05-13 10:31:52 +02:00
parent c1927b7387
commit cf27fc59c7
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/simulator/simulator_mavlink.cpp
View File

@ -109,7 +109,7 @@ static void fill_manual_control_sp_msg(struct manual_control_setpoint_s *manual,
manual->z = man_msg->z / 1000.0f;
}
void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_highres_imu_t *imu) {
void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_hil_sensor_t *imu) {
hrt_abstime timestamp = hrt_absolute_time();
sensor->timestamp = timestamp;
sensor->gyro_raw[0] = imu->xgyro * 1000.0f;
@ -156,9 +156,9 @@ void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_highres
void Simulator::handle_message(mavlink_message_t *msg) {
switch(msg->msgid) {
case MAVLINK_MSG_ID_HIGHRES_IMU:
mavlink_highres_imu_t imu;
mavlink_msg_highres_imu_decode(msg, &imu);
case MAVLINK_MSG_ID_HIL_SENSOR:
mavlink_hil_sensor_t imu;
mavlink_msg_hil_sensor_decode(msg, &imu);
fill_sensors_from_imu_msg(&_sensor, &imu);
// publish message