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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
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@@ -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);