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Simulator: Added Roman's sensors combined topic

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Simulator can work as before with -s flag or with Roman's additions to
publish the sensors combined topic using -p flag.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-29 23:45:54 -07:00
parent a209fdc8ef
commit 93a3eeb569
3 changed files with 118 additions and 18 deletions
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src/modules/simulator/simulator.h
+13
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@@ -39,6 +39,12 @@
#pragma once
#include <semaphore.h>
#include <uORB/topics/sensor_combined.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_mag.h>
#include <uORB/uORB.h>
namespace simulator {
@@ -151,11 +157,18 @@ private:
#ifndef __PX4_QURT
void updateSamples();
#endif
void publishSensorsCombined();
static Simulator *_instance;
simulator::Report<simulator::RawAccelData> _accel;
simulator::Report<simulator::RawMPUData> _mpu;
simulator::Report<simulator::RawBaroData> _baro;
orb_advert_t _accel_pub;
orb_advert_t _baro_pub;
orb_advert_t _gyro_pub;
orb_advert_t _mag_pub;
orb_advert_t _sensor_combined_pub;
};