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create uORB::PublicationMulti for multi publications

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Daniel Agar
2019-08-08 21:01:56 -04:00
parent 0a0c404a08
commit e8a11086eb
13 changed files with 193 additions and 69 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -5
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@@ -518,7 +518,7 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
mavlink_command_ack_t ack;
mavlink_msg_command_ack_decode(msg, &ack);
MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid);
MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid, _mavlink->get_channel());
vehicle_command_ack_s command_ack{};
@@ -1608,6 +1608,7 @@ MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_mess
trajectory_waypoint.waypoints[i].yaw = trajectory.pos_yaw[i];
trajectory_waypoint.waypoints[i].yaw_speed = trajectory.vel_yaw[i];
trajectory_waypoint.waypoints[i].type = UINT8_MAX;
}
for (int i = 0; i < number_valid_points; ++i) {
@@ -2216,10 +2217,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
matrix::Quatf q(hil_state.attitude_quaternion);
q.copyTo(hil_attitude.q);
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
_attitude_pub.publish(hil_attitude);
}