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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-16 13:48:33 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-16 13:48:33 +0100 |
| commit | 3874bca2084bb88dcd739b309bd4a7929db3b417 (patch) | |
| tree | e43f65cfe4076fa603aaca2464d046ed8e1ce99f /src/modules/mavlink/mavlink_receiver.cpp | |
| parent | 717e1bd374e7710ce579e91c45852bbba906eba8 (diff) | |
| download | px4-firmware-3874bca2084bb88dcd739b309bd4a7929db3b417.tar.gz px4-firmware-3874bca2084bb88dcd739b309bd4a7929db3b417.tar.bz2 px4-firmware-3874bca2084bb88dcd739b309bd4a7929db3b417.zip | |
mavlink: Only send messages when we have updates for them.
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index c222a3ddf..2ce86396c 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -586,7 +586,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) hil_sensors.gyro_rad_s[0] = imu.xgyro; hil_sensors.gyro_rad_s[1] = imu.ygyro; hil_sensors.gyro_rad_s[2] = imu.zgyro; - hil_sensors.gyro_counter = _hil_counter; hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; @@ -596,7 +595,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) hil_sensors.accelerometer_m_s2[2] = imu.zacc; hil_sensors.accelerometer_mode = 0; // TODO what is this? hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 - hil_sensors.accelerometer_counter = _hil_counter; + hil_sensors.accelerometer_timestamp = timestamp; hil_sensors.adc_voltage_v[0] = 0.0f; hil_sensors.adc_voltage_v[1] = 0.0f; @@ -611,15 +610,15 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) hil_sensors.magnetometer_range_ga = 32.7f; // int16 hil_sensors.magnetometer_mode = 0; // TODO what is this hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; - hil_sensors.magnetometer_counter = _hil_counter; + hil_sensors.magnetometer_timestamp = timestamp; hil_sensors.baro_pres_mbar = imu.abs_pressure; hil_sensors.baro_alt_meter = imu.pressure_alt; hil_sensors.baro_temp_celcius = imu.temperature; - hil_sensors.baro_counter = _hil_counter; + hil_sensors.baro_timestamp = timestamp; hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa - hil_sensors.differential_pressure_counter = _hil_counter; + hil_sensors.differential_pressure_timestamp = timestamp; /* publish combined sensor topic */ if (_sensors_pub > 0) { |