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Simulator: Send all actuator output groups

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This commit is contained in:
Lorenz Meier
2016-06-18 01:50:42 +02:00
parent c285e231b7
commit 85e3073f14
2 changed files with 33 additions and 16 deletions
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src/modules/simulator/simulator.h
+9 -5
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@@ -243,7 +243,7 @@ private:
#ifndef __PX4_QURT
,
_rc_channels_pub(nullptr),
_actuator_outputs_sub(-1),
_actuator_outputs_sub{},
_vehicle_attitude_sub(-1),
_manual_sub(-1),
_vehicle_status_sub(-1),
@@ -253,7 +253,11 @@ private:
_manual{},
_vehicle_status{}
#endif
{}
{
for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++) {
_actuator_outputs_sub[i] = -1;
}
}
~Simulator() { _instance = NULL; }
void initializeSensorData();
@@ -299,14 +303,14 @@ private:
orb_advert_t _rc_channels_pub;
// uORB subscription handlers
int _actuator_outputs_sub;
int _actuator_outputs_sub[ORB_MULTI_MAX_INSTANCES];
int _vehicle_attitude_sub;
int _manual_sub;
int _vehicle_status_sub;
// uORB data containers
struct rc_input_values _rc_input;
struct actuator_outputs_s _actuators;
struct actuator_outputs_s _actuators[ORB_MULTI_MAX_INSTANCES];
struct vehicle_attitude_s _attitude;
struct manual_control_setpoint_s _manual;
struct vehicle_status_s _vehicle_status;
@@ -316,7 +320,7 @@ private:
void send_controls();
void pollForMAVLinkMessages(bool publish, int udp_port);
void pack_actuator_message(mavlink_hil_controls_t &actuator_msg);
void pack_actuator_message(mavlink_hil_controls_t &actuator_msg, unsigned index);
void send_mavlink_message(const uint8_t msgid, const void *msg, uint8_t component_ID);
void update_sensors(mavlink_hil_sensor_t *imu);
void update_gps(mavlink_hil_gps_t *gps_sim);