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add parameter to mavlink app to allow parsing of HIL GPS message even if not in HIL mode

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Conflicts:
	src/modules/mavlink/mavlink_receiver.cpp
This commit is contained in:
Thomas Gubler
2014-04-23 15:53:48 +02:00
parent aefea1a95d
commit a2940182ef
4 changed files with 34 additions and 5 deletions
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src/modules/mavlink/mavlink_main.cpp
+8
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@@ -208,6 +208,7 @@ Mavlink::Mavlink() :
_mavlink_fd(-1),
_task_running(false),
_hil_enabled(false),
_use_hil_gps(false),
_is_usb_uart(false),
_wait_to_transmit(false),
_received_messages(false),
@@ -487,11 +488,13 @@ void Mavlink::mavlink_update_system(void)
static param_t param_system_id;
static param_t param_component_id;
static param_t param_system_type;
static param_t param_use_hil_gps;
if (!initialized) {
param_system_id = param_find("MAV_SYS_ID");
param_component_id = param_find("MAV_COMP_ID");
param_system_type = param_find("MAV_TYPE");
param_use_hil_gps = param_find("MAV_USEHILGPS");
initialized = true;
}
@@ -516,6 +519,11 @@ void Mavlink::mavlink_update_system(void)
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
mavlink_system.type = system_type;
}
int32_t use_hil_gps;
param_get(param_use_hil_gps, &use_hil_gps);
_use_hil_gps = (bool)use_hil_gps;
}
int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)