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simulator mavlink don't send_controls() until ready (#11426)

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This commit is contained in:
Daniel Agar
2019-02-11 10:50:24 -05:00
committed by GitHub
parent 24d46df577
commit d7ba8cc3f0
2 changed files with 41 additions and 51 deletions
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src/modules/simulator/simulator.h
+2 -7
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@@ -249,10 +249,6 @@ private:
_perf_sim_delay(perf_alloc_once(PC_ELAPSED, "sim_network_delay")),
_perf_sim_interval(perf_alloc(PC_INTERVAL, "sim_network_interval"))
{
for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++) {
_actuator_outputs_sub[i] = -1;
}
simulator::RawGPSData gps_data{};
gps_data.eph = UINT16_MAX;
gps_data.epv = UINT16_MAX;
@@ -332,7 +328,7 @@ private:
orb_advert_t _lpos_pub{nullptr};
// uORB subscription handlers
int _actuator_outputs_sub[ORB_MULTI_MAX_INSTANCES] {-1, -1, -1, -1};
int _actuator_outputs_sub{-1};
int _vehicle_attitude_sub{-1};
int _manual_sub{-1};
int _vehicle_status_sub{-1};
@@ -347,7 +343,6 @@ private:
// uORB data containers
input_rc_s _rc_input {};
actuator_outputs_s _actuators[ORB_MULTI_MAX_INSTANCES] {};
vehicle_attitude_s _attitude {};
manual_control_setpoint_s _manual {};
vehicle_status_s _vehicle_status {};
@@ -365,7 +360,7 @@ private:
void request_hil_state_quaternion();
void pollForMAVLinkMessages(bool publish);
void pack_actuator_message(mavlink_hil_actuator_controls_t &actuator_msg, unsigned index);
mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
void send_mavlink_message(const mavlink_message_t &aMsg);
void update_sensors(mavlink_hil_sensor_t *imu);
void update_gps(mavlink_hil_gps_t *gps_sim);