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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_receiver.cpp
+17 -5
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@@ -162,6 +162,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
* The HIL mode is enabled by the HIL bit flag
* in the system mode. Either send a set mode
* COMMAND_LONG message or a SET_MODE message
*
* Accept HIL GPS messages if use_hil_gps flag is true.
* This allows to provide fake gps measurements to the system.
*/
if (_mavlink->get_hil_enabled()) {
switch (msg->msgid) {
@@ -169,10 +172,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_hil_sensor(msg);
break;
case MAVLINK_MSG_ID_HIL_GPS:
handle_message_hil_gps(msg);
break;
case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
handle_message_hil_state_quaternion(msg);
break;
@@ -182,7 +181,20 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
}
}
/* If we've received a valid message, mark the flag indicating so.
if (_mavlink->get_hil_enabled() || _mavlink->get_use_hil_gps()) {
switch (msg->msgid) {
case MAVLINK_MSG_ID_HIL_GPS:
handle_message_hil_gps(msg);
break;
default:
break;
}
}
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
}