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simulator mavlink: support for quad tiltrotor mav type

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-02-22 11:33:42 +01:00
committed by Daniel Agar
parent e9c715f89b
commit ddb2dd89db
1 changed files with 8 additions and 9 deletions
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src/modules/simulator/simulator_mavlink.cpp
+8 -9
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@@ -94,6 +94,7 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
_system_type == MAV_TYPE_OCTOROTOR || _system_type == MAV_TYPE_OCTOROTOR ||
_system_type == MAV_TYPE_VTOL_DUOROTOR || _system_type == MAV_TYPE_VTOL_DUOROTOR ||
_system_type == MAV_TYPE_VTOL_QUADROTOR || _system_type == MAV_TYPE_VTOL_QUADROTOR ||
_system_type == MAV_TYPE_VTOL_TILTROTOR ||
_system_type == MAV_TYPE_VTOL_RESERVED2) { _system_type == MAV_TYPE_VTOL_RESERVED2) {
/* multirotors: set number of rotor outputs depending on type */ /* multirotors: set number of rotor outputs depending on type */
@@ -101,19 +102,13 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
unsigned n; unsigned n;
switch (_system_type) { switch (_system_type) {
case MAV_TYPE_QUADROTOR: case MAV_TYPE_VTOL_DUOROTOR:
n = 4;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
case MAV_TYPE_VTOL_DUOROTOR:
n = 2; n = 2;
break; break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_VTOL_QUADROTOR: case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
n = 4; n = 4;
break; break;
@@ -122,6 +117,10 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
n = 5; n = 5;
break; break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
default: default:
n = 8; n = 8;
break; break;