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Outputting mixed actuators instead of raw control output

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Lorenz Meier
2012-11-10 16:54:28 +01:00
parent e8eb887515
commit 84a0261278
1 changed files with 25 additions and 24 deletions
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apps/mavlink/orb_listener.c
+25 -24
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@@ -421,7 +421,7 @@ l_actuator_outputs(struct listener *l)
/* copy actuator data into local buffer */
orb_copy(ids[l->arg], *l->subp, &act_outputs);
if (gcs_link)
if (gcs_link) {
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
l->arg /* port number */,
act_outputs.output[0],
@@ -432,6 +432,30 @@ l_actuator_outputs(struct listener *l)
act_outputs.output[5],
act_outputs.output[6],
act_outputs.output[7]);
/* only send in HIL mode */
if (mavlink_hil_enabled) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
/* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],
act_outputs.output[3],
act_outputs.output[4],
act_outputs.output[5],
act_outputs.output[6],
act_outputs.output[7],
mavlink_mode,
0);
}
}
}
void
@@ -484,29 +508,6 @@ l_vehicle_attitude_controls(struct listener *l)
"ctrl3 ",
actuators.control[3]);
}
/* Only send in HIL mode */
if (mavlink_hil_enabled) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
/* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
actuators.control[0],
actuators.control[1],
actuators.control[2],
actuators.control[3],
0,
0,
0,
0,
mavlink_mode,
0);
}
}
void