diff options
Diffstat (limited to 'apps/mavlink/mavlink_receiver.c')
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index fa63c419f..9491ce7e3 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -318,9 +318,11 @@ handle_message(mavlink_message_t *msg) 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.timestamp = timestamp; hil_sensors.gyro_counter = hil_counter; hil_sensors.gyro_raw[0] = imu.xgyro; hil_sensors.gyro_raw[1] = imu.ygyro; @@ -367,8 +369,8 @@ handle_message(mavlink_message_t *msg) hil_frames += 1 ; // output - if ((timestamp - old_timestamp) > 1000000) { - printf("receiving hil imu at %d hz\n", hil_frames); + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil imu at %d hz\n", hil_frames/10); old_timestamp = timestamp; hil_frames = 0; } @@ -412,8 +414,8 @@ handle_message(mavlink_message_t *msg) hil_frames += 1 ; // output - if ((timestamp - old_timestamp) > 1000000) { - printf("receiving hil gps at %d hz\n", hil_frames); + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil gps at %d hz\n", hil_frames/10); old_timestamp = timestamp; hil_frames = 0; } @@ -429,6 +431,9 @@ handle_message(mavlink_message_t *msg) static uint16_t hil_frames = 0; static uint64_t old_timestamp = 0; + /* sensors general */ + hil_sensors.timestamp = press.time_usec; + /* baro */ /* TODO, set ground_press/ temp during calib */ static const float ground_press = 1013.25f; // mbar @@ -454,8 +459,8 @@ handle_message(mavlink_message_t *msg) hil_frames += 1 ; // output - if ((timestamp - old_timestamp) > 1000000) { - printf("receiving hil pressure at %d hz\n", hil_frames); + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil pressure at %d hz\n", hil_frames/10); old_timestamp = timestamp; hil_frames = 0; } |