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new airframe for sih, HIL_STATE_QUATERION sent through MAVLink

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This commit is contained in:
Beat Küng
2019-04-12 09:25:07 +02:00
parent c09e9ec97f
commit 914a9b78b6
42 changed files with 225 additions and 103 deletions
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src/modules/mavlink/mavlink_main.cpp
+4
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@@ -765,12 +765,16 @@ Mavlink::set_hil_enabled(bool hil_enabled)
if (hil_enabled && !_hil_enabled && _datarate > 5000) {
_hil_enabled = true;
ret = configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
configure_stream("GROUND_TRUTH", 25.0f); // HIL_STATE_QUATERNION to display the SIH
}
/* disable HIL */
if (!hil_enabled && _hil_enabled) {
_hil_enabled = false;
ret = configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
configure_stream("GROUND_TRUTH", 0.0f);
}
return ret;
src/modules/mavlink/mavlink_messages.cpp
+7 -6
View File
@@ -4666,12 +4666,13 @@ protected:
msg.yawspeed = att.yawspeed;
// vehicle_global_position -> hil_state_quaternion
msg.lat = gpos.lat;
msg.lon = gpos.lon;
msg.alt = gpos.alt;
msg.vx = gpos.vel_n;
msg.vy = gpos.vel_e;
msg.vz = gpos.vel_d;
// same units as defined in mavlink/common.xml
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;
msg.alt = gpos.alt * 1e3f;
msg.vx = gpos.vel_n * 1e2f;
msg.vy = gpos.vel_e * 1e2f;
msg.vz = gpos.vel_d * 1e2f;
msg.ind_airspeed = 0;
msg.true_airspeed = 0;
msg.xacc = 0;