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MAVLink update compile fixes

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Lorenz Meier
2014-11-09 18:20:53 +01:00
parent e87a179fc1
commit 62db84fa75
4 changed files with 19 additions and 15 deletions
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src/modules/mavlink/mavlink_messages.cpp
+7 -5
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@@ -302,7 +302,7 @@ protected:
msg.base_mode = 0;
msg.custom_mode = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode);
msg.type = mavlink_system.type;
msg.type = _mavlink->get_system_type();
msg.autopilot = MAV_AUTOPILOT_PX4;
msg.mavlink_version = 3;
@@ -1353,15 +1353,17 @@ protected:
const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
unsigned system_type = _mavlink->get_system_type();
/* scale outputs depending on system type */
if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
mavlink_system.type == MAV_TYPE_HEXAROTOR ||
mavlink_system.type == MAV_TYPE_OCTOROTOR) {
if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR) {
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
switch (mavlink_system.type) {
switch (system_type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;