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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-04 12:57:44 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-23 15:53:48 +0200 |
| commit | a2940182ef2d4a354fcdd1738ce3a7e0908860c9 (patch) | |
| tree | e46f7b19963c41d149e50dde67bec9becb8f2dd5 /src/modules/mavlink/mavlink_main.cpp | |
| parent | aefea1a95d221e541be219d9fec7eece3c72fd50 (diff) | |
| download | px4-firmware-a2940182ef2d4a354fcdd1738ce3a7e0908860c9.tar.gz px4-firmware-a2940182ef2d4a354fcdd1738ce3a7e0908860c9.tar.bz2 px4-firmware-a2940182ef2d4a354fcdd1738ce3a7e0908860c9.zip | |
add parameter to mavlink app to allow parsing of HIL GPS message even if not in HIL mode
Conflicts:
src/modules/mavlink/mavlink_receiver.cpp
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 227e99b48..7ecca0d65 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -208,6 +208,7 @@ 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), @@ -487,11 +488,13 @@ 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; } @@ -516,6 +519,11 @@ 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) |