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[mavlink] send quaternion

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This commit is contained in:
Felix Ruess
2014-12-27 14:27:49 +01:00
parent 1469f456bc
commit 394d0ce5d7
1 changed files with 2 additions and 2 deletions
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sw/airborne/modules/datalink/mavlink.c
+2 -2
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@@ -85,7 +85,8 @@ void mavlink_periodic(void)
{ {
RunOnceEvery(2, mavlink_send_heartbeat()); RunOnceEvery(2, mavlink_send_heartbeat());
RunOnceEvery(5, mavlink_send_sys_status()); RunOnceEvery(5, mavlink_send_sys_status());
RunOnceEvery(5, mavlink_send_attitude()); RunOnceEvery(10, mavlink_send_attitude());
RunOnceEvery(5, mavlink_send_attitude_quaternion());
RunOnceEvery(5, mavlink_send_params()); RunOnceEvery(5, mavlink_send_params());
RunOnceEvery(4, mavlink_send_local_position_ned()); RunOnceEvery(4, mavlink_send_local_position_ned());
RunOnceEvery(5, mavlink_send_global_position_int()); RunOnceEvery(5, mavlink_send_global_position_int());
@@ -350,7 +351,6 @@ static inline void mavlink_send_autopilot_version(void)
static inline void mavlink_send_attitude_quaternion(void) static inline void mavlink_send_attitude_quaternion(void)
{ {
/// TODO: check if same quaternion rotation or inverse
mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0, mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0,
get_sys_time_msec(), get_sys_time_msec(),
stateGetNedToBodyQuat_f()->qi, stateGetNedToBodyQuat_f()->qi,