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mavlink_receiver: fill some missing fields in OPTICAL_FLOW_RAD handler

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This commit is contained in:
Oleg Kalachev
2018-09-18 08:31:20 +03:00
committed by Lorenz Meier
parent f0c231778f
commit 9887c463fd
2 changed files with 14 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+10 -2
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@@ -163,7 +163,11 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mom_switch_state(0),
_p_bat_emergen_thr(param_find("BAT_EMERGEN_THR")),
_p_bat_crit_thr(param_find("BAT_CRIT_THR")),
_p_bat_low_thr(param_find("BAT_LOW_THR"))
_p_bat_low_thr(param_find("BAT_LOW_THR")),
_p_flow_rot(param_find("SENS_FLOW_ROT")),
_p_flow_maxr(param_find("SENS_FLOW_MAXR")),
_p_flow_minhgt(param_find("SENS_FLOW_MINHGT")),
_p_flow_maxhgt(param_find("SENS_FLOW_MAXHGT"))
{
/* Make the attitude quaternion valid */
_att.q[0] = 1.0f;
@@ -649,8 +653,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
/* read flow sensor parameters */
int32_t flow_rot_int;
param_get(param_find("SENS_FLOW_ROT"), &flow_rot_int);
param_get(_p_flow_rot, &flow_rot_int);
const enum Rotation flow_rot = (Rotation)flow_rot_int;
struct optical_flow_s f = {};
@@ -667,6 +672,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
param_get(_p_flow_maxr, &f.max_flow_rate);
param_get(_p_flow_minhgt, &f.min_ground_distance);
param_get(_p_flow_maxhgt, &f.max_ground_distance);
/* rotate measurements according to parameter */
float zeroval = 0.0f;
src/modules/mavlink/mavlink_receiver.h
+4
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@@ -265,6 +265,10 @@ private:
param_t _p_bat_emergen_thr;
param_t _p_bat_crit_thr;
param_t _p_bat_low_thr;
param_t _p_flow_rot;
param_t _p_flow_maxr;
param_t _p_flow_minhgt;
param_t _p_flow_maxhgt;
MavlinkReceiver(const MavlinkReceiver &) = delete;
MavlinkReceiver operator=(const MavlinkReceiver &) = delete;