Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-09 03:02:36 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

Fixes to MAVLink HIL

Browse Source
This commit is contained in:
Lorenz Meier
2013-04-22 13:47:45 +02:00
parent 9d6d41dceb
commit 82d2ab677e
1 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/mavlink/mavlink_receiver.c
+7 -3
View File
@@ -395,7 +395,7 @@ handle_message(mavlink_message_t *msg)
static uint64_t old_timestamp = 0;
/* sensors general */
hil_sensors.timestamp = imu.time_usec;
hil_sensors.timestamp = hrt_absolute_time();
/* hil gyro */
static const float mrad2rad = 1.0e-3f;
@@ -446,12 +446,16 @@ handle_message(mavlink_message_t *msg)
hil_sensors.baro_alt_meter = h;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.accelerometer_counter = hil_counter;
/* publish */
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
// increment counters
hil_counter += 1 ;
hil_frames += 1 ;
hil_counter++;
hil_frames++;
// output
if ((timestamp - old_timestamp) > 10000000) {