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px4-firmware
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Merge branch 'master' into mavlink_stack

This commit is contained in:
Anton Babushkin 2014-06-12 10:12:09 +02:00
parent 342e08977a 251760679a
commit e076b5a636
2 changed files with 3 additions and 6 deletions
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2
ROMFS/px4fmu_common/init.d/rc.usb
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@ -17,6 +17,8 @@ mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
usleep 100000 usleep 100000
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
usleep 100000 usleep 100000
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
usleep 100000
# Exit shell to make it available to MAVLink # Exit shell to make it available to MAVLink
exit exit

7
src/modules/mavlink/mavlink_messages.cpp
View File

@ -1049,13 +1049,8 @@ public:
private: private:
MavlinkOrbSubscription *pos_sp_triplet_sub; MavlinkOrbSubscription *pos_sp_triplet_sub;
uint64_t pos_sp_triplet_time;
protected: protected:
explicit MavlinkStreamGlobalPositionSetpointInt() : MavlinkStream(),
pos_sp_triplet_time(0)
{}
void subscribe(Mavlink *mavlink) void subscribe(Mavlink *mavlink)
{ {
pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)); pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
@ -1065,7 +1060,7 @@ protected:
{ {
struct position_setpoint_triplet_s pos_sp_triplet; struct position_setpoint_triplet_s pos_sp_triplet;
if (pos_sp_triplet_sub->update(&pos_sp_triplet_time, &pos_sp_triplet)) { if (pos_sp_triplet_sub->update(&pos_sp_triplet)) {
mavlink_msg_global_position_setpoint_int_send(_channel, mavlink_msg_global_position_setpoint_int_send(_channel,
MAV_FRAME_GLOBAL, MAV_FRAME_GLOBAL,
(int32_t)(pos_sp_triplet.current.lat * 1e7), (int32_t)(pos_sp_triplet.current.lat * 1e7),