diff options
Diffstat (limited to 'apps/mavlink/mavlink_receiver.c')
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 4d9cd964d..28b0c50c9 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -376,6 +376,74 @@ handle_message(mavlink_message_t *msg) } } + if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) { + + mavlink_highres_imu_t imu; + mavlink_msg_highres_imu_decode(msg, &imu); + + /* packet counter */ + static uint16_t hil_counter = 0; + static uint16_t hil_frames = 0; + static uint64_t old_timestamp = 0; + + /* sensors general */ + hil_sensors.timestamp = imu.time_usec; + + /* 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; + + /* 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; + hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2; + hil_sensors.accelerometer_m_s2[0] = imu.xacc; + hil_sensors.accelerometer_m_s2[1] = imu.yacc; + 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 + + /* adc */ + hil_sensors.adc_voltage_v[0] = 0; + hil_sensors.adc_voltage_v[1] = 0; + hil_sensors.adc_voltage_v[2] = 0; + + /* 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; + hil_sensors.magnetometer_ga[0] = imu.xmag; + hil_sensors.magnetometer_ga[1] = imu.ymag; + hil_sensors.magnetometer_ga[2] = imu.zmag; + 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; + + /* publish */ + orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); + + // increment counters + hil_counter += 1 ; + hil_frames += 1 ; + + // output + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil imu at %d hz\n", hil_frames/10); + old_timestamp = timestamp; + hil_frames = 0; + } + } + if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) { mavlink_gps_raw_int_t gps; |