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simulator mavlink: support for quad tiltrotor mav type

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2018-02-22 11:33:42 +01:00 committed by Daniel Agar
parent e9c715f89b
commit ddb2dd89db
1 changed files with 8 additions and 9 deletions
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17
src/modules/simulator/simulator_mavlink.cpp
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@ -94,6 +94,7 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
_system_type == MAV_TYPE_OCTOROTOR ||
_system_type == MAV_TYPE_VTOL_DUOROTOR ||
_system_type == MAV_TYPE_VTOL_QUADROTOR ||
_system_type == MAV_TYPE_VTOL_TILTROTOR ||
_system_type == MAV_TYPE_VTOL_RESERVED2) {
/* multirotors: set number of rotor outputs depending on type */
@ -101,19 +102,13 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
unsigned n;
switch (_system_type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_VTOL_DUOROTOR:
n = 2;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
n = 4;
break;
@ -122,6 +117,10 @@ void Simulator::pack_actuator_message(mavlink_hil_actuator_controls_t &msg, unsi
n = 5;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
default:
n = 8;
break;