Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 02:55:07 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

mavlink hil: add HIL_CONTROLS publication for compatibility (eg. with mavros)

Browse Source
This commit is contained in:
Beat Küng
2016-09-02 12:07:57 +02:00
parent 3de4ec7093
commit 90c7b06152
1 changed files with 2 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+2
View File
@@ -852,12 +852,14 @@ Mavlink::set_hil_enabled(bool hil_enabled)
if (hil_enabled && !_hil_enabled) { if (hil_enabled && !_hil_enabled) {
_hil_enabled = true; _hil_enabled = true;
configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f); configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
configure_stream("HIL_CONTROLS", 200.0f); //for compatibility, publish the old message as well
} }
/* disable HIL */ /* disable HIL */
if (!hil_enabled && _hil_enabled) { if (!hil_enabled && _hil_enabled) {
_hil_enabled = false; _hil_enabled = false;
configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f); configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
configure_stream("HIL_CONTROLS", 0.0f);
} else { } else {
ret = ERROR; ret = ERROR;