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Cut case MAVLINK_MSG_ID_LANDING_TARGET content and paste into handle_message_landing_target() method.

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This commit is contained in:
mcsauder
2019-02-28 19:24:50 +01:00
committed by Beat Küng
parent 0df34af181
commit 411db781eb
2 changed files with 21 additions and 15 deletions
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src/modules/simulator/simulator.h
+2
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@@ -331,6 +331,8 @@ 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_landing_target(const mavlink_message_t *msg);
void parameters_update(bool force);
void poll_topics();
void pollForMAVLinkMessages(bool publish);
src/modules/simulator/simulator_mavlink.cpp
+19 -15
View File
@@ -398,21 +398,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
break;
case MAVLINK_MSG_ID_LANDING_TARGET: {
mavlink_landing_target_t landing_target_mavlink;
mavlink_msg_landing_target_decode(msg, &landing_target_mavlink);
struct irlock_report_s report = {};
report.timestamp = hrt_absolute_time();
report.signature = landing_target_mavlink.target_num;
report.pos_x = landing_target_mavlink.angle_x;
report.pos_y = landing_target_mavlink.angle_y;
report.size_x = landing_target_mavlink.size_x;
report.size_y = landing_target_mavlink.size_y;
int irlock_multi;
orb_publish_auto(ORB_ID(irlock_report), &_irlock_report_pub, &report, &irlock_multi, ORB_PRIO_HIGH);
handle_message_landing_target(msg);
break;
}
@@ -513,6 +499,24 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
}
void Simulator::handle_message_landing_target(const mavlink_message_t *msg)
{
mavlink_landing_target_t landing_target_mavlink;
mavlink_msg_landing_target_decode(msg, &landing_target_mavlink);
struct irlock_report_s report = {};
report.timestamp = hrt_absolute_time();
report.signature = landing_target_mavlink.target_num;
report.pos_x = landing_target_mavlink.angle_x;
report.pos_y = landing_target_mavlink.angle_y;
report.size_x = landing_target_mavlink.size_x;
report.size_y = landing_target_mavlink.size_y;
int irlock_multi;
orb_publish_auto(ORB_ID(irlock_report), &_irlock_report_pub, &report, &irlock_multi, ORB_PRIO_HIGH);
}
void Simulator::send_mavlink_message(const mavlink_message_t &aMsg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];