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Cut case MAVLINK_MSG_ID_HIL_GPS content and paste into handle_message_hil_gps() method.

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This commit is contained in:
mcsauder 2019-03-05 10:27:57 -07:00 committed by Beat Küng
parent b705bf6b1c
commit 801cbc856e
2 changed files with 14 additions and 8 deletions
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1
src/modules/simulator/simulator.h
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@ -332,6 +332,7 @@ private:
void handle_message(mavlink_message_t *msg);
void handle_message_distance_sensor(const mavlink_message_t *msg);
void handle_message_hil_gps(const mavlink_message_t *msg);
void handle_message_hil_sensor(const mavlink_message_t *msg);
void handle_message_hil_state_quaternion(const mavlink_message_t *msg);
void handle_message_landing_target(const mavlink_message_t *msg);

21
src/modules/simulator/simulator_mavlink.cpp
View File

@ -310,14 +310,7 @@ void Simulator::handle_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_HIL_GPS:
mavlink_hil_gps_t gps_sim;
mavlink_msg_hil_gps_decode(msg, &gps_sim);
if (_publish) {
//PX4_WARN("FIXME: Need to publish GPS topic. Not done yet.");
}
update_gps(&gps_sim);
handle_message_hil_gps(msg);
break;
case MAVLINK_MSG_ID_RC_CHANNELS:
@ -351,6 +344,18 @@ void Simulator::handle_message_distance_sensor(const mavlink_message_t *msg)
publish_distance_topic(&dist);
}
void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
{
mavlink_hil_gps_t gps_sim;
mavlink_msg_hil_gps_decode(msg, &gps_sim);
if (_publish) {
//PX4_WARN("FIXME: Need to publish GPS topic. Not done yet.");
}
update_gps(&gps_sim);
}
void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
{
mavlink_hil_sensor_t imu;