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tumbili
2016-06-08 17:14:33 +02:00
parent acea2f98d5
commit b9e9f62bee
2 changed files with 33 additions and 23 deletions
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src/modules/ekf2_replay/ekf2_replay_main.cpp
+14 -13
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@@ -226,7 +226,7 @@ Ekf2Replay::Ekf2Replay(char *logfile) :
_flow{},
_range{},
_airspeed{},
_vehicle_status{},
_vehicle_status{},
_message_counter(0),
_part1_counter_ref(0),
_read_part2(false),
@@ -299,6 +299,7 @@ void Ekf2Replay::publishEstimatorInput()
if (_airspeed_pub == nullptr && _read_part6) {
_airspeed_pub = orb_advertise(ORB_ID(airspeed), &_airspeed);
} else if (_airspeed_pub != nullptr) {
orb_publish(ORB_ID(airspeed), _airspeed_pub, &_airspeed);
}
@@ -431,7 +432,7 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
_range.current_distance = replay_part4.range_to_ground;
_read_part4 = true;
} else if (type == LOG_RPL6_MSG){
} else if (type == LOG_RPL6_MSG) {
uint8_t *dest_ptr = (uint8_t *)&replay_part6.time_airs_usec;
parseMessage(data, dest_ptr, type);
_airspeed.timestamp = replay_part6.time_airs_usec;
@@ -469,17 +470,17 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
}
else if (type == LOG_STAT_MSG) {
uint8_t *dest_ptr = (uint8_t *)&vehicle_status.main_state;
parseMessage(data, dest_ptr, type);
_vehicle_status.is_rotary_wing = vehicle_status.is_rot_wing;
if (_vehicle_status_pub == nullptr) {
_vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &_vehicle_status);
} else if (_vehicle_status_pub != nullptr) {
orb_publish(ORB_ID(vehicle_status), _vehicle_status_pub, &_vehicle_status);
}
}
uint8_t *dest_ptr = (uint8_t *)&vehicle_status.main_state;
parseMessage(data, dest_ptr, type);
_vehicle_status.is_rotary_wing = vehicle_status.is_rot_wing;
if (_vehicle_status_pub == nullptr) {
_vehicle_status_pub = orb_advertise(ORB_ID(vehicle_status), &_vehicle_status);
} else if (_vehicle_status_pub != nullptr) {
orb_publish(ORB_ID(vehicle_status), _vehicle_status_pub, &_vehicle_status);
}
}
}
void Ekf2Replay::writeMessage(int &fd, void *data, size_t size)