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Cut case MAVLINK_MSG_ID_ODOMETRY content and paste into handle_message_odometry() method.

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mcsauder
2019-03-07 08:22:44 +01:00
committed by Beat Küng
parent 3918d0ce0a
commit 278fddb585
2 changed files with 9 additions and 0 deletions
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src/modules/simulator/simulator.h
+1
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@@ -336,6 +336,7 @@ private:
void handle_message_hil_sensor(const mavlink_message_t *msg);
void handle_message_hil_state_quaternion(const mavlink_message_t *msg);
void handle_message_landing_target(const mavlink_message_t *msg);
void handle_message_odometry(const mavlink_message_t *msg);
void handle_message_optical_flow(const mavlink_message_t *msg);
void handle_message_rc_channels(const mavlink_message_t *msg);
void handle_message_vision_position_estimate(const mavlink_message_t *msg);
src/modules/simulator/simulator_mavlink.cpp
+8
View File
@@ -301,6 +301,9 @@ void Simulator::handle_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_ODOMETRY:
handle_message_odometry(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
@@ -522,6 +525,11 @@ void Simulator::handle_message_landing_target(const mavlink_message_t *msg)
orb_publish_auto(ORB_ID(irlock_report), &_irlock_report_pub, &report, &irlock_multi, ORB_PRIO_HIGH);
}
void Simulator::handle_message_odometry(const mavlink_message_t *msg)
{
publish_odometry_topic(msg);
}
void Simulator::handle_message_optical_flow(const mavlink_message_t *msg)
{
mavlink_hil_optical_flow_t flow;