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mavlink: HIGHRES_IMU set diff_pressure in fields_updated (#9296)

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Thomas Stastny
2018-04-16 11:43:52 -04:00
committed by Daniel Agar
parent c16e17f47b
commit 71170dce0a
1 changed files with 10 additions and 2 deletions
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src/modules/mavlink/mavlink_messages.cpp
+10 -2
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@@ -666,6 +666,7 @@ private:
uint64_t _gyro_timestamp;
uint64_t _mag_timestamp;
uint64_t _baro_timestamp;
uint64_t _dpres_timestamp;
/* do not allow top copying this class */
MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &);
@@ -682,7 +683,8 @@ protected:
_accel_timestamp(0),
_gyro_timestamp(0),
_mag_timestamp(0),
_baro_timestamp(0)
_baro_timestamp(0),
_dpres_timestamp(0)
{}
bool send(const hrt_abstime t)
@@ -717,7 +719,7 @@ protected:
_air_data_sub->update(&air_data);
if (_baro_timestamp != air_data.timestamp) {
/* mark last group dimensions as changed */
/* mark fourth group (baro fields) dimensions as changed */
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
_baro_timestamp = air_data.timestamp;
}
@@ -728,6 +730,12 @@ protected:
differential_pressure_s differential_pressure = {};
_differential_pressure_sub->update(&differential_pressure);
if (_dpres_timestamp != differential_pressure.timestamp) {
/* mark fourth group (dpres field) dimensions as changed */
fields_updated |= (1 << 10);
_dpres_timestamp = differential_pressure.timestamp;
}
mavlink_highres_imu_t msg = {};
msg.time_usec = sensor.timestamp;