fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 21:23:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tests

Browse Source
This commit is contained in:
Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent 0797c7fc21
commit 01e971b342
8 changed files with 124 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_receiver.cpp
+14 -14
View File
@@ -1627,27 +1627,27 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
void MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg)
{
mavlink_follow_target_t follow_target_msg;
follow_target_s follow_target_topic = { };
// mavlink_follow_target_t follow_target_msg;
follow_target_s follow_target = {};
mavlink_msg_follow_target_decode(msg, &follow_target_msg);
//mavlink_msg_follow_target_decode(msg, &follow_target_msg);
follow_target_topic.timestamp = hrt_absolute_time();
follow_target.timestamp = hrt_absolute_time();
memcpy(follow_target_topic.accel, follow_target_msg.acc, sizeof(follow_target_topic.accel));
memcpy(follow_target_topic.velocity, follow_target_msg.vel, sizeof(follow_target_topic.velocity));
// memcpy(follow_target_topic.accel, follow_target_msg.acc, sizeof(follow_target_topic.accel));
//memcpy(follow_target_topic.velocity, follow_target_msg.vel, sizeof(follow_target_topic.velocity));
follow_target_topic.lat = follow_target_msg.lat*1e-7;
follow_target_topic.lon = follow_target_msg.lon*1e-7;
follow_target_topic.alt = follow_target_msg.alt;
// follow_target.lat = follow_target_msg.lat*1e-7;
// follow_target.lon = follow_target_msg.lon*1e-7;
// follow_target.alt = follow_target_msg.alt;
if (_follow_me_pub == nullptr) {
_follow_me_pub = orb_advertise(ORB_ID(follow_target), &follow_target_topic);
_follow_me_pub = orb_advertise(ORB_ID(follow_target), &follow_target);
} else {
warnx("publishing follow lat = %f lon = %f alt = %f", (double) follow_target_topic.lat,
(double) follow_target_topic.lon,
(double) follow_target_topic.alt);
orb_publish(ORB_ID(follow_target), _follow_me_pub, &follow_target_topic);
warnx("publishing follow lat = %f lon = %f alt = %f", (double) follow_target.lat,
(double) follow_target.lon,
(double) follow_target.alt);
orb_publish(ORB_ID(follow_target), _follow_me_pub, &follow_target);
}
}