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RPM: clean up message

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This commit is contained in:
Matthias Grob
2024-11-27 14:51:28 +01:00
parent a60591378c
commit c463cc42d0
5 changed files with 11 additions and 19 deletions
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src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
+6 -8
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@@ -388,14 +388,12 @@ void SimulatorMavlink::handle_message(const mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_RAW_RPM:
mavlink_raw_rpm_t rpm;
mavlink_msg_raw_rpm_decode(msg, &rpm);
rpm_s rpmmsg{};
rpmmsg.timestamp = hrt_absolute_time();
rpmmsg.indicated_frequency_rpm = rpm.frequency;
rpmmsg.estimated_accurancy_rpm = 0;
_rpm_pub.publish(rpmmsg);
mavlink_raw_rpm_t rpm_mavlink;
mavlink_msg_raw_rpm_decode(msg, &rpm_mavlink);
rpm_s rpm_uorb{};
rpm_uorb.timestamp = hrt_absolute_time();
rpm_uorb.rpm_estimate = rpm_mavlink.frequency;
_rpm_pub.publish(rpm_uorb);
break;
}
}