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authorLorenz Meier <lm@inf.ethz.ch>2012-09-07 16:56:47 +0200
committerLorenz Meier <lm@inf.ethz.ch>2012-09-07 16:56:47 +0200
commitc25cef299f7bd2e09062e38cebd94298b331e6e7 (patch)
treef632609bf265de0f041f5226dc4992839acbe3fe /apps/mavlink
parent297990fe35d0a428ee095b0d8eb1776b58f4472a (diff)
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Fixed to mag measurement and filter
Diffstat (limited to 'apps/mavlink')
-rw-r--r--apps/mavlink/mavlink.c21
1 files changed, 2 insertions, 19 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 7289bd7a8..57c459430 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -943,32 +943,15 @@ static void *uorb_receiveloop(void *arg)
/* Only send in HIL mode */
if (mavlink_hil_enabled) {
- /* hacked HIL implementation in order for the APM Planner to work
- * (correct cmd: mavlink_msg_hil_controls_send())
- */
-
- mavlink_msg_rc_channels_scaled_send(chan,
- hrt_absolute_time(),
- 0, // port 0
- buf.att_sp.roll_body,
- buf.att_sp.pitch_body,
- buf.att_sp.thrust,
- buf.att_sp.yaw_body,
- 0,
- 0,
- 0,
- 0,
- 1 /*rssi=1*/);
-
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
- /* correct HIL message as per MAVLink spec */
+ /* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
- buf.att_sp.roll_body,
+ buf.att_sp.roll_body, /* this may be replaced by ctrl0 later */
buf.att_sp.pitch_body,
buf.att_sp.yaw_body,
buf.att_sp.thrust,