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MAVLink: Update to new sensors combined topic

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Lorenz Meier
2015-08-30 11:37:27 +02:00
parent ff8e4f2ea6
commit caacb4f777
2 changed files with 26 additions and 26 deletions
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src/modules/mavlink/mavlink_messages.cpp
+12 -12
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@@ -643,28 +643,28 @@ protected:
if (_sensor_sub->update(&_sensor_time, &sensor)) {
uint16_t fields_updated = 0;
if (_accel_timestamp != sensor.accelerometer_timestamp) {
if (_accel_timestamp != sensor.accelerometer_timestamp[0]) {
/* mark first three dimensions as changed */
fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
_accel_timestamp = sensor.accelerometer_timestamp;
_accel_timestamp = sensor.accelerometer_timestamp[0];
}
if (_gyro_timestamp != sensor.timestamp) {
if (_gyro_timestamp != sensor.gyro_timestamp[0]) {
/* mark second group dimensions as changed */
fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
_gyro_timestamp = sensor.timestamp;
_gyro_timestamp = sensor.gyro_timestamp[0];
}
if (_mag_timestamp != sensor.magnetometer_timestamp) {
if (_mag_timestamp != sensor.magnetometer_timestamp[0]) {
/* mark third group dimensions as changed */
fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
_mag_timestamp = sensor.magnetometer_timestamp;
_mag_timestamp = sensor.magnetometer_timestamp[0];
}
if (_baro_timestamp != sensor.baro_timestamp) {
if (_baro_timestamp != sensor.baro_timestamp[0]) {
/* mark last group dimensions as changed */
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
_baro_timestamp = sensor.baro_timestamp;
_baro_timestamp = sensor.baro_timestamp[0];
}
mavlink_highres_imu_t msg;
@@ -679,10 +679,10 @@ protected:
msg.xmag = sensor.magnetometer_ga[0];
msg.ymag = sensor.magnetometer_ga[1];
msg.zmag = sensor.magnetometer_ga[2];
msg.abs_pressure = sensor.baro_pres_mbar;
msg.diff_pressure = sensor.differential_pressure_pa;
msg.pressure_alt = sensor.baro_alt_meter;
msg.temperature = sensor.baro_temp_celcius;
msg.abs_pressure = sensor.baro_pres_mbar[0];
msg.diff_pressure = sensor.differential_pressure_pa[0];
msg.pressure_alt = sensor.baro_alt_meter[0];
msg.temperature = sensor.baro_temp_celcius[0];
msg.fields_updated = fields_updated;
_mavlink->send_message(MAVLINK_MSG_ID_HIGHRES_IMU, &msg);