fly316/PX4-Autopilot
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Merge pull request #2472 from tumbili/SITL_progress

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Sitl progress
This commit is contained in:
Lorenz Meier 2015-06-26 07:11:15 +02:00
commit e7ffa9b428
2 changed files with 12 additions and 0 deletions
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8
posix-configs/SITL/init/rcS
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@ -22,6 +22,9 @@ param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
rgbled start
tone_alarm start
gyrosim start
@ -32,8 +35,13 @@ gpssim start
hil mode_pwm
commander start
sensors start
navigator start
attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556

4
src/modules/mavlink/mavlink_messages.cpp
View File

@ -1776,6 +1776,10 @@ protected:
msg.x = pos_sp.x;
msg.y = pos_sp.y;
msg.z = pos_sp.z;
msg.yaw = pos_sp.yaw;
msg.vx = pos_sp.vx;
msg.vy = pos_sp.vy;
msg.vz = pos_sp.vz;
_mavlink->send_message(MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, &msg);
}