fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 14:07:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

always publish simulator groundtruth attitude

Browse Source
This commit is contained in:
Mark Whitehorn
2016-09-15 07:09:54 -06:00
committed by Beat Küng
parent 8f64825297
commit 95f899fee7
1 changed files with 3 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulator/simulator_mavlink.cpp
+3 -4
View File
@@ -329,10 +329,9 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
hil_attitude.pitch = euler(0);
hil_attitude.yaw = euler(2);
if (true) {
int hilstate_multi;
orb_publish_auto(ORB_ID(vehicle_attitude_groundtruth), &_attitude_pub, &hil_attitude, &hilstate_multi, ORB_PRIO_HIGH);
}
// always publish ground truth attitude message
int hilstate_multi;
orb_publish_auto(ORB_ID(vehicle_attitude_groundtruth), &_attitude_pub, &hil_attitude, &hilstate_multi, ORB_PRIO_HIGH);
}
break;
}