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| author | Julian Oes <julian@oes.ch> | 2013-12-27 00:04:32 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-12-27 00:04:32 +0100 |
| commit | 40f2d581bffacbf214edfcadac3a57756d605196 (patch) | |
| tree | e63077b8eeb2ac98a3a28772ffa9dbeb63f6f865 /src/modules/mavlink/mavlink_receiver.cpp | |
| parent | 9d4ba6e4f64d631c67a419518a8398debade4641 (diff) | |
| parent | d3a71d1e420c595a9a242d12264d553759dd9e2a (diff) | |
| download | px4-firmware-40f2d581bffacbf214edfcadac3a57756d605196.tar.gz px4-firmware-40f2d581bffacbf214edfcadac3a57756d605196.tar.bz2 px4-firmware-40f2d581bffacbf214edfcadac3a57756d605196.zip | |
Merge branch 'fw_autoland_att_tecs_navigator_termination_controlgroups' into bottle_drop_navigator
Conflicts:
src/drivers/px4fmu/fmu.cpp
src/modules/dataman/dataman.c
src/modules/dataman/dataman.h
src/modules/mavlink/orb_listener.c
src/modules/mavlink/waypoints.c
src/modules/navigator/navigator_main.cpp
src/modules/navigator/navigator_mission.cpp
src/modules/navigator/navigator_mission.h
src/modules/uORB/topics/mission.h
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 11 |
1 files changed, 4 insertions, 7 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index bfccd5fb0..7b6fad658 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -382,16 +382,15 @@ handle_message(mavlink_message_t *msg) /* hil gyro */ static const float mrad2rad = 1.0e-3f; - hil_sensors.gyro_counter = hil_counter; hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad; hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad; hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad; 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; /* accelerometer */ - hil_sensors.accelerometer_counter = hil_counter; static const float mg2ms2 = 9.8f / 1000.0f; hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; @@ -401,6 +400,7 @@ handle_message(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; /* adc */ hil_sensors.adc_voltage_v[0] = 0.0f; @@ -409,7 +409,6 @@ handle_message(mavlink_message_t *msg) /* magnetometer */ float mga2ga = 1.0e-3f; - hil_sensors.magnetometer_counter = hil_counter; hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga; hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga; hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga; @@ -419,15 +418,13 @@ handle_message(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; /* baro */ 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.gyro_counter = hil_counter; - hil_sensors.magnetometer_counter = hil_counter; - hil_sensors.accelerometer_counter = hil_counter; + hil_sensors.baro_counter = hil_counter; /* differential pressure */ hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa |