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HIL fixed, fixedwing control fixes

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This commit is contained in:
Ivan Ovinnikov
2012-08-07 14:18:09 +02:00
parent 2b09a7914f
commit 9536bfa3ca
6 changed files with 179 additions and 158 deletions
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apps/sensors/sensors.c
+3 -1
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@@ -432,10 +432,12 @@ int sensors_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* switching from non-HIL to HIL mode */
//printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
if ((vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED) && !hil_enabled) {
hil_enabled = true;
publishing = false;
close(sensor_pub);
int ret = close(sensor_pub);
printf("[sensors] Closing sensor pub: %i \n", ret);
/* switching from HIL to non-HIL mode */