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mavlink: only enable HIL_ACTUATOR_CONTROLS in hil if link has enough bandwidth

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Plus correct return value.
Iridium links are below that.
This commit is contained in:
Beat Küng
2018-06-25 11:06:39 +02:00
committed by Lorenz Meier
parent 4553992760
commit f59412ba65
1 changed files with 4 additions and 7 deletions
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src/modules/mavlink/mavlink_main.cpp
+4 -7
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@@ -859,19 +859,16 @@ Mavlink::set_hil_enabled(bool hil_enabled)
{
int ret = OK;
/* enable HIL */
if (hil_enabled && !_hil_enabled && (_mode != MAVLINK_MODE_IRIDIUM)) {
/* enable HIL (only on links with sufficient bandwidth) */
if (hil_enabled && !_hil_enabled && _datarate > 5000) {
_hil_enabled = true;
configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
ret = configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
}
/* disable HIL */
if (!hil_enabled && _hil_enabled) {
_hil_enabled = false;
configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
} else {
ret = PX4_ERROR;
ret = configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
}
return ret;