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Cut case MAVLINK_MSG_ID_DISTANCE_SENSOR content and paste into handle_message_distance_sensor() method.

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mcsauder 2019-02-28 10:09:16 -07:00 committed by Beat Küng
parent 411db781eb
commit 24e55e4d4d
2 changed files with 9 additions and 3 deletions
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1
src/modules/simulator/simulator.h
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@ -331,6 +331,7 @@ private:
mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
void handle_message(mavlink_message_t *msg, bool publish);
void handle_message_distance_sensor(const mavlink_message_t *msg);
void handle_message_landing_target(const mavlink_message_t *msg);
void parameters_update(bool force);

11
src/modules/simulator/simulator_mavlink.cpp
View File

@ -368,9 +368,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
mavlink_distance_sensor_t dist;
mavlink_msg_distance_sensor_decode(msg, &dist);
publish_distance_topic(&dist);
handle_message_distance_sensor(msg);
break;
case MAVLINK_MSG_ID_HIL_GPS:
@ -499,6 +497,13 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
}
void Simulator::handle_message_distance_sensor(const mavlink_message_t *msg)
{
mavlink_distance_sensor_t dist;
mavlink_msg_distance_sensor_decode(msg, &dist);
publish_distance_topic(&dist);
}
void Simulator::handle_message_landing_target(const mavlink_message_t *msg)
{
mavlink_landing_target_t landing_target_mavlink;