diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-10 00:11:09 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-10 00:11:09 +0200 |
| commit | 3140ba658a322d98c6fe7943c5fb72bb061c46de (patch) | |
| tree | 65de11b76548578173146d4b6ab36634bf2e7719 /apps/mavlink | |
| parent | 6ea402efdc769a8b2d1a409ed07890f073ba4867 (diff) | |
| download | px4-firmware-3140ba658a322d98c6fe7943c5fb72bb061c46de.tar.gz px4-firmware-3140ba658a322d98c6fe7943c5fb72bb061c46de.tar.bz2 px4-firmware-3140ba658a322d98c6fe7943c5fb72bb061c46de.zip | |
Fixed HIL enabling, renamed failsafe to better term "lockdown", made sure HIL is actually locking down system. Pending implementation of lockdown in PWM outputs
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 57c459430..db3470cd6 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -409,6 +409,10 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, const s *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; } + if (c_status->flag_hil_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + /* set arming state */ if (actuator->armed) { *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; @@ -1298,10 +1302,10 @@ void handleMessage(mavlink_message_t *msg) hil_global_pos.lat = hil_state.lat; hil_global_pos.lon = hil_state.lon; - hil_global_pos.alt = hil_state.alt/1000; - hil_global_pos.vx = hil_state.vx; - hil_global_pos.vy = hil_state.vy; - hil_global_pos.vz = hil_state.vz; + hil_global_pos.alt = hil_state.alt / 1000.0f; + hil_global_pos.vx = hil_state.vx / 100.0f; + hil_global_pos.vy = hil_state.vy / 100.0f; + hil_global_pos.vz = hil_state.vz / 100.0f; /* set timestamp and notify processes (broadcast) */ hil_global_pos.timestamp = hrt_absolute_time(); @@ -1626,6 +1630,9 @@ int mavlink_thread_main(int argc, char *argv[]) /* send heartbeat */ mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); + /* switch HIL mode if required */ + set_hil_on_off(v_status.flag_hil_enabled); + /* send status (values already copied in the section above) */ mavlink_msg_sys_status_send(chan, v_status.onboard_control_sensors_present, v_status.onboard_control_sensors_enabled, v_status.onboard_control_sensors_health, v_status.load, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f, |