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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-22 13:47:45 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-22 13:47:45 +0200 |
| commit | 82d2ab677ea6bfccdc211a6e0c77a7904175e0c0 (patch) | |
| tree | 4c877aa86022bee156a7648ab2b57e473276fea0 | |
| parent | 9d6d41dceb13bd0754c555f3fa3393313b03cbac (diff) | |
| download | px4-firmware-82d2ab677ea6bfccdc211a6e0c77a7904175e0c0.tar.gz px4-firmware-82d2ab677ea6bfccdc211a6e0c77a7904175e0c0.tar.bz2 px4-firmware-82d2ab677ea6bfccdc211a6e0c77a7904175e0c0.zip | |
Fixes to MAVLink HIL
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 798e509e0..588b3e07e 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -395,7 +395,7 @@ handle_message(mavlink_message_t *msg) static uint64_t old_timestamp = 0; /* sensors general */ - hil_sensors.timestamp = imu.time_usec; + hil_sensors.timestamp = hrt_absolute_time(); /* hil gyro */ static const float mrad2rad = 1.0e-3f; @@ -446,12 +446,16 @@ handle_message(mavlink_message_t *msg) hil_sensors.baro_alt_meter = h; hil_sensors.baro_temp_celcius = imu.temperature; + hil_sensors.gyro_counter = hil_counter; + hil_sensors.magnetometer_counter = hil_counter; + hil_sensors.accelerometer_counter = hil_counter; + /* publish */ orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); // increment counters - hil_counter += 1 ; - hil_frames += 1 ; + hil_counter++; + hil_frames++; // output if ((timestamp - old_timestamp) > 10000000) { |