From c81a1631ece0be126fd49d3a4850c79c6197b357 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 4 Oct 2016 12:56:25 +0200 Subject: [PATCH] simulator_mavlink: init hil_attitude with 0 & set angular speed --- src/modules/simulator/simulator_mavlink.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 14546932aa..cd77198299 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -311,7 +311,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish) uint64_t timestamp = hrt_absolute_time(); /* attitude */ - struct vehicle_attitude_s hil_attitude; + struct vehicle_attitude_s hil_attitude = {}; { hil_attitude.timestamp = timestamp; @@ -329,6 +329,10 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish) hil_attitude.pitch = euler(1); hil_attitude.yaw = euler(2); + hil_attitude.rollspeed = hil_state.rollspeed; + hil_attitude.pitchspeed = hil_state.pitchspeed; + hil_attitude.yawspeed = hil_state.yawspeed; + // always publish ground truth attitude message int hilstate_multi; orb_publish_auto(ORB_ID(vehicle_attitude_groundtruth), &_attitude_pub, &hil_attitude, &hilstate_multi, ORB_PRIO_HIGH);