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Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

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This commit is contained in:
Thomas Gubler
2014-07-17 09:13:00 +02:00
parent f460870738 23c82c2dd8
commit 8bb1f9a4bf
65 changed files with 1174 additions and 203 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+16 -16
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@@ -86,7 +86,9 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
status{},
hil_local_pos{},
_control_mode{},
_global_pos_pub(-1),
_local_pos_pub(-1),
_attitude_pub(-1),
@@ -112,15 +114,13 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_manual_pub(-1),
_telemetry_heartbeat_time(0),
_radio_status_available(false),
_control_mode_sub(-1),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
_hil_local_proj_inited(0),
_hil_local_alt0(0.0)
_hil_local_alt0(0.0f),
_hil_local_proj_ref{}
{
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
memset(&hil_local_pos, 0, sizeof(hil_local_pos));
memset(&_control_mode, 0, sizeof(_control_mode));
// make sure the FTP server is started
(void)MavlinkFTP::getServer();
@@ -740,10 +740,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
gyro.temperature = imu.temperature;
if (_gyro_pub < 0) {
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro);
} else {
orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro);
}
}
@@ -762,10 +762,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
accel.temperature = imu.temperature;
if (_accel_pub < 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
}
}
@@ -783,10 +783,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
mag.z = imu.zmag;
if (_mag_pub < 0) {
_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
_mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag);
} else {
orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag);
}
}
@@ -801,10 +801,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
baro.temperature = imu.temperature;
if (_baro_pub < 0) {
_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
_baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro);
} else {
orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro);
}
}
@@ -1078,10 +1078,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
accel.temperature = 25.0f;
if (_accel_pub < 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
}
}