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mavlink: adapted to change in distance_sensor msg

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Ban Siesta
2015-05-24 15:58:44 +01:00
parent 13a4cdd05e
commit cf39e8c721
2 changed files with 15 additions and 13 deletions
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src/modules/mavlink/mavlink_messages.cpp
+7 -5
View File
@@ -2228,7 +2228,10 @@ protected:
mavlink_distance_sensor_t msg;
msg.time_boot_ms = dist_sensor.time_boot_ms;
msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
/* TODO: use correct ID here */
msg.id = 0;
switch (dist_sensor.type) {
case MAV_DISTANCE_SENSOR_ULTRASOUND:
@@ -2248,11 +2251,10 @@ protected:
break;
}
msg.id = dist_sensor.id;
msg.orientation = dist_sensor.orientation;
msg.min_distance = dist_sensor.min_distance;
msg.max_distance = dist_sensor.max_distance;
msg.current_distance = dist_sensor.current_distance;
msg.min_distance = dist_sensor.min_distance * 100.0f; /* m to cm */
msg.max_distance = dist_sensor.max_distance * 100.0f; /* m to cm */
msg.current_distance = dist_sensor.current_distance * 100.0f; /* m to cm */
msg.covariance = dist_sensor.covariance;
_mavlink->send_message(MAVLINK_MSG_ID_DISTANCE_SENSOR, &msg);
src/modules/mavlink/mavlink_receiver.cpp
+8 -8
View File
@@ -420,10 +420,10 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
struct distance_sensor_s d;
memset(&d, 0, sizeof(d));
d.time_boot_ms = hrt_absolute_time();
d.timestamp = hrt_absolute_time();
d.min_distance = 0.3f;
d.max_distance = 5.0f;
d.current_distance = flow.distance;
d.current_distance = flow.distance; /* both are in m */
d.type = 1;
d.id = 0;
d.orientation = 8;
@@ -470,10 +470,10 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
struct distance_sensor_s d;
memset(&d, 0, sizeof(d));
d.time_boot_ms = hrt_absolute_time();
d.timestamp = hrt_absolute_time();
d.min_distance = 0.3f;
d.max_distance = 5.0f;
d.current_distance = flow.distance;
d.current_distance = flow.distance; /* both are in m */
d.type = 1;
d.id = 0;
d.orientation = 8;
@@ -530,10 +530,10 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
struct distance_sensor_s d;
memset(&d, 0, sizeof(d));
d.time_boot_ms = dist_sensor.time_boot_ms;
d.min_distance = dist_sensor.min_distance;
d.max_distance = dist_sensor.max_distance;
d.current_distance = dist_sensor.current_distance;
d.timestamp = dist_sensor.time_boot_ms * 1000; /* ms to us */
d.min_distance = float(dist_sensor.min_distance) * 1e-2f; /* cm to m */
d.max_distance = float(dist_sensor.max_distance) * 1e-2f; /* cm to m */
d.current_distance = float(dist_sensor.current_distance) * 1e-2f; /* cm to m */
d.type = dist_sensor.type;
d.id = dist_sensor.id;
d.orientation = dist_sensor.orientation;