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px4-firmware
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Added pub update.

This commit is contained in:
James Goppert 2013-06-22 13:45:12 -04:00
parent 42f09c4b54
commit e7cc6e71ad
1 changed files with 2 additions and 0 deletions
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2
src/drivers/md25/md25.cpp
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@ -605,11 +605,13 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
input_signal.timestamp_ms = timestamp;
input_signal.value = amplitude*sinf(omega*t);
md25.setMotor1Speed(input_signal.value);
input_signal.update();
// output
output_signal.timestamp_ms = timestamp;
float speed_rpm = 60*(md25.getRevolutions1() - prev_revolution)/dt;
output_signal.value = speed_rpm;
output_signal.update();
mavlink_log_info(mavlink_fd, "rpm: %10.4f\n", (double)speed_rpm);
md25.readData();
if (t > 2.0f) break;