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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-26 00:38:21 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-26 00:38:21 +0400 |
| commit | 769a2af1f8925a2d47fd47a2d25f8d7baac150ec (patch) | |
| tree | e0d250923a56168e6233c5e041f82e502100d591 /src/modules/mavlink/mavlink_messages.cpp | |
| parent | e291af990fd9a4f447cbad2416b78d031cd33f5c (diff) | |
| download | px4-firmware-769a2af1f8925a2d47fd47a2d25f8d7baac150ec.tar.gz px4-firmware-769a2af1f8925a2d47fd47a2d25f8d7baac150ec.tar.bz2 px4-firmware-769a2af1f8925a2d47fd47a2d25f8d7baac150ec.zip | |
mavlink: HIGHRES_IMU message added, default message streams added
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 77ec344dc..7a56c36a5 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -135,6 +135,23 @@ msg_sys_status(const MavlinkStream *stream) status->errors_count4); } +void +msg_highres_imu(const MavlinkStream *stream) +{ + struct sensor_combined_s *sensor = (struct sensor_combined_s *)stream->subscriptions[0]->data; + + uint16_t fields_updated = 0; + + if (stream->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) + mavlink_msg_highres_imu_send(stream->mavlink->get_chan(), sensor->timestamp, + sensor->accelerometer_m_s2[0], sensor->accelerometer_m_s2[1], sensor->accelerometer_m_s2[2], + sensor->gyro_rad_s[0], sensor->gyro_rad_s[1], sensor->gyro_rad_s[2], + sensor->magnetometer_ga[0], sensor->magnetometer_ga[1], sensor->magnetometer_ga[2], + sensor->baro_pres_mbar, sensor->differential_pressure_pa, + sensor->baro_alt_meter, sensor->baro_temp_celcius, + fields_updated); +} + //void //MavlinkOrbListener::l_sensor_combined(const struct listener *l) //{ |