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MAVLink: Update to new sensors combined topic

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This commit is contained in:
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_receiver.cpp
+14 -14
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@@ -1433,9 +1433,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.accelerometer_m_s2[0] = imu.xacc;
hil_sensors.accelerometer_m_s2[1] = imu.yacc;
hil_sensors.accelerometer_m_s2[2] = imu.zacc;
hil_sensors.accelerometer_mode = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
hil_sensors.accelerometer_timestamp = timestamp;
hil_sensors.accelerometer_mode[0] = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2[0] = 32.7f; // int16
hil_sensors.accelerometer_timestamp[0] = timestamp;
hil_sensors.adc_voltage_v[0] = 0.0f;
hil_sensors.adc_voltage_v[1] = 0.0f;
@@ -1447,19 +1447,19 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.magnetometer_ga[0] = imu.xmag;
hil_sensors.magnetometer_ga[1] = imu.ymag;
hil_sensors.magnetometer_ga[2] = imu.zmag;
hil_sensors.magnetometer_range_ga = 32.7f; // int16
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
hil_sensors.magnetometer_timestamp = timestamp;
hil_sensors.magnetometer_range_ga[0] = 32.7f; // int16
hil_sensors.magnetometer_mode[0] = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz[0] = 50.0f;
hil_sensors.magnetometer_timestamp[0] = timestamp;
hil_sensors.baro_pres_mbar = imu.abs_pressure;
hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.baro_timestamp = timestamp;
hil_sensors.baro_pres_mbar[0] = imu.abs_pressure;
hil_sensors.baro_alt_meter[0] = imu.pressure_alt;
hil_sensors.baro_temp_celcius[0] = imu.temperature;
hil_sensors.baro_timestamp[0] = timestamp;
hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
hil_sensors.differential_pressure_filtered_pa = hil_sensors.differential_pressure_pa;
hil_sensors.differential_pressure_timestamp = timestamp;
hil_sensors.differential_pressure_pa[0] = imu.diff_pressure * 1e2f; //from hPa to Pa
hil_sensors.differential_pressure_filtered_pa[0] = hil_sensors.differential_pressure_pa[0];
hil_sensors.differential_pressure_timestamp[0] = timestamp;
/* publish combined sensor topic */
if (_sensors_pub == nullptr) {