diff options
Diffstat (limited to 'apps/mavlink/mavlink.c')
| -rw-r--r-- | apps/mavlink/mavlink.c | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 2ec459ddc..ceb7c2554 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -77,7 +77,7 @@ /* define MAVLink specific parameters */ PARAM_DEFINE_INT32(MAV_SYS_ID, 1); PARAM_DEFINE_INT32(MAV_COMP_ID, 50); -PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_QUADROTOR); +PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); __EXPORT int mavlink_main(int argc, char *argv[]); @@ -98,7 +98,7 @@ static bool mavlink_link_termination_allowed = false; mavlink_system_t mavlink_system = { 100, 50, - MAV_TYPE_QUADROTOR, + MAV_TYPE_FIXED_WING, 0, 0, 0 @@ -148,6 +148,10 @@ set_hil_on_off(bool hil_enabled) pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); + /* sensore level hil */ + pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); + pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); + mavlink_hil_enabled = true; /* ramp up some HIL-related subscriptions */ |