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mavlink: Add support for multi uORB sensor interface

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Lorenz Meier
2014-06-10 15:10:12 +02:00
parent e3e8bf25be
commit 0031713004
1 changed files with 10 additions and 10 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+10 -10
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@@ -495,10 +495,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
gyro.temperature = imu.temperature;
if (_gyro_pub < 0) {
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro);
} else {
orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro);
}
}
@@ -517,10 +517,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
accel.temperature = imu.temperature;
if (_accel_pub < 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
}
}
@@ -538,10 +538,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
mag.z = imu.zmag;
if (_mag_pub < 0) {
_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
_mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag);
} else {
orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag);
}
}
@@ -556,10 +556,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
baro.temperature = imu.temperature;
if (_baro_pub < 0) {
_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
_baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro);
} else {
orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro);
}
}
@@ -835,10 +835,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
accel.temperature = 25.0f;
if (_accel_pub < 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
}
}