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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-07 00:08:04 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-07 00:08:04 +0100 |
| commit | 88800b38f8035143c443fbba6bbce368ccc42594 (patch) | |
| tree | 07c62c896f1d7411f178201438e36f3eaa717845 | |
| parent | 7d76a8a57b41c82db0712dd0544e67d1ce97d89c (diff) | |
| download | px4-firmware-88800b38f8035143c443fbba6bbce368ccc42594.tar.gz px4-firmware-88800b38f8035143c443fbba6bbce368ccc42594.tar.bz2 px4-firmware-88800b38f8035143c443fbba6bbce368ccc42594.zip | |
HIL testing / cleanup for fixed wing and multirotors
| -rw-r--r-- | apps/mavlink/mavlink.c | 5 | ||||
| -rw-r--r-- | apps/mavlink/orb_listener.c | 42 |
2 files changed, 11 insertions, 36 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 9b2cfcbba..6b4643ec7 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -143,15 +143,10 @@ set_hil_on_off(bool hil_enabled) /* Enable HIL */ if (hil_enabled && !mavlink_hil_enabled) { - //printf("\n HIL ON \n"); - /* Advertise topics */ pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); - printf("\n pub_hil_attitude :%i\n", pub_hil_attitude); - printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos); - mavlink_hil_enabled = true; /* ramp up some HIL-related subscriptions */ diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 683964a0d..6342ce979 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -459,29 +459,9 @@ l_manual_control_setpoint(struct listener *l) void l_vehicle_attitude_controls(struct listener *l) { - struct actuator_controls_s actuators; - - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators); - - if (gcs_link) { - /* send, add spaces so that string buffer is at least 10 chars long */ - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl0 ", - actuators.control[0]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl1 ", - actuators.control[1]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl2 ", - actuators.control[2]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl3 ", - actuators.control[3]); - } + struct actuator_outputs_s actuators; + + orb_copy(ORB_ID_VEHICLE_CONTROLS, mavlink_subs.act_0_sub, &actuators); /* Only send in HIL mode */ if (mavlink_hil_enabled) { @@ -494,14 +474,14 @@ l_vehicle_attitude_controls(struct listener *l) /* HIL message as per MAVLink spec */ mavlink_msg_hil_controls_send(chan, hrt_absolute_time(), - actuators.control[0], - actuators.control[1], - actuators.control[2], - actuators.control[3], - 0, - 0, - 0, - 0, + actuators.output[0], + actuators.output[1], + actuators.output[2], + actuators.output[3], + actuators.output[4], + actuators.output[5], + actuators.output[6], + actuators.output[7], mavlink_mode, 0); } |