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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-11 12:55:57 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-11 12:55:57 +0100 |
commit | 7d8d7a76b986e7acefb4a61f3da3625db1f6dd11 (patch) | |
tree | aede4a3f132d1f9e09d2651a7175418257c2f467 /apps/mavlink/mavlink.c | |
parent | f8291711d3daf0e4af12b018f7cc711414e3bf95 (diff) | |
download | px4-firmware-7d8d7a76b986e7acefb4a61f3da3625db1f6dd11.tar.gz px4-firmware-7d8d7a76b986e7acefb4a61f3da3625db1f6dd11.tar.bz2 px4-firmware-7d8d7a76b986e7acefb4a61f3da3625db1f6dd11.zip |
Fixed scalings for fixed wing and multirotors
Diffstat (limited to 'apps/mavlink/mavlink.c')
-rw-r--r-- | apps/mavlink/mavlink.c | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 460faf446..2527e0b0f 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -132,6 +132,7 @@ static struct mavlink_logbuffer lb; static void mavlink_update_system(void); static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); static void usage(void); +int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval); @@ -161,15 +162,13 @@ set_hil_on_off(bool hil_enabled) } else if (baudrate < 115200) { /* 20 Hz */ hil_rate_interval = 50; - } else if (baudrate < 460800) { - /* 50 Hz */ - hil_rate_interval = 20; } else { /* 100 Hz */ hil_rate_interval = 10; } orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval); } if (!hil_enabled && mavlink_hil_enabled) { @@ -263,7 +262,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) } -static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval) +int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval) { int ret = OK; @@ -453,19 +452,19 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) /* * Internal function to give access to the channel status for each channel */ -mavlink_status_t* mavlink_get_channel_status(uint8_t chan) +mavlink_status_t* mavlink_get_channel_status(uint8_t channel) { static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_status[chan]; + return &m_mavlink_status[channel]; } /* * Internal function to give access to the channel buffer for each channel */ -mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan) +mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel) { static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_buffer[chan]; + return &m_mavlink_buffer[channel]; } void mavlink_update_system(void) |