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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-09 18:20:53 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-09 18:20:53 +0100 |
commit | 62db84fa758ecc30081e30a18464fe3060d2c2d8 (patch) | |
tree | 1282dc1853c52db249c1365c08e76d5f4240ea61 /src/modules/mavlink/mavlink_messages.cpp | |
parent | e87a179fc1b9b10bfd22e741229e9cbd75b6ef73 (diff) | |
download | px4-firmware-62db84fa758ecc30081e30a18464fe3060d2c2d8.tar.gz px4-firmware-62db84fa758ecc30081e30a18464fe3060d2c2d8.tar.bz2 px4-firmware-62db84fa758ecc30081e30a18464fe3060d2c2d8.zip |
MAVLink update compile fixes
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index cccb698bf..b4911427f 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -302,7 +302,7 @@ protected: msg.base_mode = 0; msg.custom_mode = 0; get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode); - msg.type = mavlink_system.type; + msg.type = _mavlink->get_system_type(); msg.autopilot = MAV_AUTOPILOT_PX4; msg.mavlink_version = 3; @@ -1353,15 +1353,17 @@ protected: const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2; + unsigned system_type = _mavlink->get_system_type(); + /* scale outputs depending on system type */ - if (mavlink_system.type == MAV_TYPE_QUADROTOR || - mavlink_system.type == MAV_TYPE_HEXAROTOR || - mavlink_system.type == MAV_TYPE_OCTOROTOR) { + if (system_type == MAV_TYPE_QUADROTOR || + system_type == MAV_TYPE_HEXAROTOR || + system_type == MAV_TYPE_OCTOROTOR) { /* multirotors: set number of rotor outputs depending on type */ unsigned n; - switch (mavlink_system.type) { + switch (system_type) { case MAV_TYPE_QUADROTOR: n = 4; break; |