diff options
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 21 |
1 files changed, 2 insertions, 19 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 7289bd7a8..57c459430 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -943,32 +943,15 @@ static void *uorb_receiveloop(void *arg) /* Only send in HIL mode */ if (mavlink_hil_enabled) { - /* hacked HIL implementation in order for the APM Planner to work - * (correct cmd: mavlink_msg_hil_controls_send()) - */ - - mavlink_msg_rc_channels_scaled_send(chan, - hrt_absolute_time(), - 0, // port 0 - buf.att_sp.roll_body, - buf.att_sp.pitch_body, - buf.att_sp.thrust, - buf.att_sp.yaw_body, - 0, - 0, - 0, - 0, - 1 /*rssi=1*/); - /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; uint8_t mavlink_mode = 0; get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); - /* correct HIL message as per MAVLink spec */ + /* HIL message as per MAVLink spec */ mavlink_msg_hil_controls_send(chan, hrt_absolute_time(), - buf.att_sp.roll_body, + buf.att_sp.roll_body, /* this may be replaced by ctrl0 later */ buf.att_sp.pitch_body, buf.att_sp.yaw_body, buf.att_sp.thrust, |