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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:40:20 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:40:20 +0200 |
| commit | 9aee41932458bf85473334cb430c1b00607dd7f4 (patch) | |
| tree | e890a7d893ac737549056f23148eea0392ff90fe /src/modules/mavlink/mavlink.c | |
| parent | 5691c64ff068b849319e714d9719079bd4bc14d2 (diff) | |
| download | px4-firmware-9aee41932458bf85473334cb430c1b00607dd7f4.tar.gz px4-firmware-9aee41932458bf85473334cb430c1b00607dd7f4.tar.bz2 px4-firmware-9aee41932458bf85473334cb430c1b00607dd7f4.zip | |
Updated mavlink version, massive improvements in mission lib, fixes to HIL (state and sensor level)
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 13 |
1 files changed, 5 insertions, 8 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index c72a53fee..5b8345e7e 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -144,14 +144,6 @@ set_hil_on_off(bool hil_enabled) /* Enable HIL */ if (hil_enabled && !mavlink_hil_enabled) { - /* 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); - - /* sensore level hil */ - pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); - pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); - mavlink_hil_enabled = true; /* ramp up some HIL-related subscriptions */ @@ -714,6 +706,8 @@ int mavlink_thread_main(int argc, char *argv[]) lowspeed_counter++; + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); + /* sleep quarter the time */ usleep(25000); @@ -725,10 +719,13 @@ int mavlink_thread_main(int argc, char *argv[]) /* send parameters at 20 Hz (if queued for sending) */ mavlink_pm_queued_send(); + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); /* sleep quarter the time */ usleep(25000); + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); + if (baudrate > 57600) { mavlink_pm_queued_send(); } |