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mavlink_receiver: refactor forgotten manual_control_setpoint naming

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This commit is contained in:
Matthias Grob
2022-11-28 19:25:55 +01:00
parent f16286f3eb
commit 5579e319ff
3 changed files with 22 additions and 22 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+11 -11
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@@ -2129,22 +2129,22 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
void
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
{
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
mavlink_manual_control_t mavlink_manual_control;
mavlink_msg_manual_control_decode(msg, &mavlink_manual_control);
// Check target
if (man.target != 0 && man.target != _mavlink->get_system_id()) {
if (mavlink_manual_control.target != 0 && mavlink_manual_control.target != _mavlink->get_system_id()) {
return;
}
manual_control_setpoint_s manual{};
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual.timestamp = manual.timestamp_sample = hrt_absolute_time();
_manual_control_input_pub.publish(manual);
manual_control_setpoint_s manual_control_setpoint{};
manual_control_setpoint.x = mavlink_manual_control.x / 1000.0f;
manual_control_setpoint.y = mavlink_manual_control.y / 1000.0f;
manual_control_setpoint.r = mavlink_manual_control.r / 1000.0f;
manual_control_setpoint.z = mavlink_manual_control.z / 1000.0f;
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
_manual_control_input_pub.publish(manual_control_setpoint);
}
void