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Merge branch 'master' into mpc_rc

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This commit is contained in:
Anton Babushkin
2014-04-25 21:39:59 +02:00
parent 22aaae197b f0298e005a
commit 0c1de81785
18 changed files with 117 additions and 60 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+17 -5
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@@ -160,6 +160,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
* The HIL mode is enabled by the HIL bit flag
* in the system mode. Either send a set mode
* COMMAND_LONG message or a SET_MODE message
*
* Accept HIL GPS messages if use_hil_gps flag is true.
* This allows to provide fake gps measurements to the system.
*/
if (_mavlink->get_hil_enabled()) {
switch (msg->msgid) {
@@ -167,10 +170,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_hil_sensor(msg);
break;
case MAVLINK_MSG_ID_HIL_GPS:
handle_message_hil_gps(msg);
break;
case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
handle_message_hil_state_quaternion(msg);
break;
@@ -180,7 +179,20 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
}
}
/* If we've received a valid message, mark the flag indicating so.
if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
switch (msg->msgid) {
case MAVLINK_MSG_ID_HIL_GPS:
handle_message_hil_gps(msg);
break;
default:
break;
}
}
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
}