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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-26 15:13:03 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-26 15:13:03 +0200 |
| commit | 22d3bcdab60c1f788fe76431a02bc9f49601568a (patch) | |
| tree | 111ec1532c7021b803e386968b2fa6a8a68c11dd /src/modules/mavlink/mavlink_main.cpp | |
| parent | a30411e9f2438018a08c0965261067940f88be10 (diff) | |
| parent | 84943644d77ce21e91fa60a326ab333069333e74 (diff) | |
| download | px4-firmware-22d3bcdab60c1f788fe76431a02bc9f49601568a.tar.gz px4-firmware-22d3bcdab60c1f788fe76431a02bc9f49601568a.tar.bz2 px4-firmware-22d3bcdab60c1f788fe76431a02bc9f49601568a.zip | |
Merged mpc_rc into ekf_params
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index a483691a3..d66d36744 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -217,6 +217,7 @@ Mavlink::Mavlink() : _mavlink_fd(-1), _task_running(false), _hil_enabled(false), + _use_hil_gps(false), _is_usb_uart(false), _wait_to_transmit(false), _received_messages(false), @@ -496,11 +497,13 @@ void Mavlink::mavlink_update_system(void) static param_t param_system_id; static param_t param_component_id; static param_t param_system_type; + static param_t param_use_hil_gps; if (!initialized) { param_system_id = param_find("MAV_SYS_ID"); param_component_id = param_find("MAV_COMP_ID"); param_system_type = param_find("MAV_TYPE"); + param_use_hil_gps = param_find("MAV_USEHILGPS"); initialized = true; } @@ -525,6 +528,11 @@ void Mavlink::mavlink_update_system(void) if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { mavlink_system.type = system_type; } + + int32_t use_hil_gps; + param_get(param_use_hil_gps, &use_hil_gps); + + _use_hil_gps = (bool)use_hil_gps; } int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) |