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simulator_mavlink: init hil_attitude with 0 & set angular speed

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Beat Küng
2016-10-04 12:56:25 +02:00
parent 9500b7f01f
commit c81a1631ec
1 changed files with 5 additions and 1 deletions
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src/modules/simulator/simulator_mavlink.cpp
+5 -1
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@@ -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);