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gps add device_id

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Daniel Agar
2021-04-08 08:27:07 +02:00
committed by Beat Küng
parent 1f4960d480
commit 39c96a8884
10 changed files with 104 additions and 6 deletions
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src/modules/simulator/simulator_mavlink.cpp
+9
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@@ -44,6 +44,7 @@
#include <drivers/drv_pwm_output.h>
#include <conversion/rotation.h>
#include <mathlib/mathlib.h>
#include <lib/drivers/device/Device.hpp>
#include <arpa/inet.h>
#include <errno.h>
@@ -432,6 +433,14 @@ void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
if (_sensor_gps_pubs[i] == nullptr) {
_sensor_gps_pubs[i] = new uORB::PublicationMulti<sensor_gps_s> {ORB_ID(sensor_gps)};
_gps_ids[i] = hil_gps.id;
device::Device::DeviceId device_id;
device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
device_id.devid_s.bus = 0;
device_id.devid_s.address = i;
device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM;
gps.device_id = device_id.devid;
_sensor_gps_pubs[i]->publish(gps);
break;
}