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State machine cleanup, introduced variable rates for MAVLink depending on the baud rate

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Lorenz Meier
2012-08-18 16:48:43 +02:00
parent e707574f73
commit dc484c1d21
7 changed files with 142 additions and 76 deletions
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apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+1 -1
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@@ -245,7 +245,7 @@ int attitude_estimator_bm_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* switching from non-HIL to HIL mode */
//printf("[attitude_estimator_bm] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
if ((vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED) && !hil_enabled) {
if (vstatus.flag_hil_enabled && !hil_enabled) {
hil_enabled = true;
publishing = false;
int ret = close(pub_att);