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Fixed HIL handling

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Lorenz Meier
2013-07-05 11:43:42 +02:00
parent 2cfe9ee1b4
commit 7ca0698a6b
2 changed files with 4 additions and 3 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -2
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@@ -416,7 +416,8 @@ handle_message(mavlink_message_t *msg)
airspeed.timestamp = hrt_absolute_time();
float ias = calc_indicated_airspeed(imu.diff_pressure);
float tas = calc_true_airspeed_from_indicated(ias, imu.abs_pressure, imu.temperature);
// XXX need to fix this
float tas = ias;
airspeed.indicated_airspeed_m_s = ias;
airspeed.true_airspeed_m_s = tas;
@@ -426,7 +427,7 @@ handle_message(mavlink_message_t *msg)
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
//warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
/* publish */
if (pub_hil_sensors > 0) {