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enable receiving mavlink highres imu message (via udp) from external simulator

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tumbili
2015-05-04 23:10:23 +02:00
parent 1a8bd15d98
commit 17267a7f66
3 changed files with 167 additions and 3 deletions
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src/modules/simulator/simulator.h
+19 -1
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@@ -40,11 +40,14 @@
#include <semaphore.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_mag.h>
#include <uORB/uORB.h>
#include <v1.0/mavlink_types.h>
#include <v1.0/common/mavlink.h>
namespace simulator {
@@ -151,13 +154,24 @@ public:
bool getMPUReport(uint8_t *buf, int len);
bool getBaroSample(uint8_t *buf, int len);
private:
Simulator() : _accel(1), _mpu(1), _baro(1) {}
Simulator() :
_accel(1),
_mpu(1),
_baro(1),
_sensor_combined_pub(-1),
_manual_control_sp_pub(-1),
_sensor{},
_manual_control_sp{}
{}
~Simulator() { _instance=NULL; }
#ifndef __PX4_QURT
void updateSamples();
#endif
void publishSensorsCombined();
void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_highres_imu_t *imu);
void fill_manual_control_sp_msg(struct manual_control_setpoint_s *manual, mavlink_manual_control_t *man_msg);
void handle_message(mavlink_message_t *msg);
static Simulator *_instance;
@@ -170,5 +184,9 @@ private:
orb_advert_t _gyro_pub;
orb_advert_t _mag_pub;
orb_advert_t _sensor_combined_pub;
orb_advert_t _manual_control_sp_pub;
struct sensor_combined_s _sensor;
struct manual_control_setpoint_s _manual_control_sp;
};