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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-05 11:43:42 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-05 11:43:42 +0200 |
| commit | 7ca0698a6b41af500e4070717ef4d46a9b805d1f (patch) | |
| tree | f030d5b1eaa5933452cdb886e5081c53bf1a979c /src/modules/mavlink | |
| parent | 2cfe9ee1b49681ad0ba0e6f4e8a54dba3e7f2638 (diff) | |
| download | px4-firmware-7ca0698a6b41af500e4070717ef4d46a9b805d1f.tar.gz px4-firmware-7ca0698a6b41af500e4070717ef4d46a9b805d1f.tar.bz2 px4-firmware-7ca0698a6b41af500e4070717ef4d46a9b805d1f.zip | |
Fixed HIL handling
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 5 | ||||
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 2 |
2 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 5b2fa392d..33ac14860 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -416,7 +416,8 @@ handle_message(mavlink_message_t *msg) airspeed.timestamp = hrt_absolute_time(); float ias = calc_indicated_airspeed(imu.diff_pressure); - float tas = calc_true_airspeed_from_indicated(ias, imu.abs_pressure, imu.temperature); + // XXX need to fix this + float tas = ias; airspeed.indicated_airspeed_m_s = ias; airspeed.true_airspeed_m_s = tas; @@ -426,7 +427,7 @@ handle_message(mavlink_message_t *msg) } else { orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); } - warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); + //warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); /* publish */ if (pub_hil_sensors > 0) { diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 7c5441842..0597555ab 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -196,7 +196,7 @@ l_sensor_combined(const struct listener *l) raw.gyro_rad_s[1], raw.gyro_rad_s[2], raw.magnetometer_ga[0], raw.magnetometer_ga[1], raw.magnetometer_ga[2], - raw.baro_pres_mbar, 0 /* no diff pressure yet */, + raw.baro_pres_mbar, raw.differential_pressure_pa, raw.baro_alt_meter, raw.baro_temp_celcius, fields_updated); |