diff options
Diffstat (limited to 'apps')
-rw-r--r-- | apps/mavlink/orb_listener.c | 17 | ||||
-rw-r--r-- | apps/mavlink/orb_topics.h | 1 | ||||
-rw-r--r-- | apps/mavlink_onboard/mavlink_receiver.c | 2 |
3 files changed, 19 insertions, 1 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 3ac229d73..4567a08f8 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -113,6 +113,7 @@ static void l_actuator_armed(struct listener *l); static void l_manual_control_setpoint(struct listener *l); static void l_vehicle_attitude_controls(struct listener *l); static void l_debug_key_value(struct listener *l); +static void l_optical_flow(struct listener *l); struct listener listeners[] = { {l_sensor_combined, &mavlink_subs.sensor_sub, 0}, @@ -134,6 +135,7 @@ struct listener listeners[] = { {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, + {l_optical_flow, &mavlink_subs.optical_flow, 0}, }; static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]); @@ -586,6 +588,17 @@ l_debug_key_value(struct listener *l) debug.value); } +void +l_optical_flow(struct listener *l) +{ + struct optical_flow_s flow; + + orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow); + + mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y, + flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m); +} + static void * uorb_receive_thread(void *arg) { @@ -710,6 +723,10 @@ uorb_receive_start(void) mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value)); orb_set_interval(mavlink_subs.debug_key_value, 100); /* 10Hz updates */ + /* --- FLOW SENSOR --- */ + mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow)); + orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */ + /* start the listener loop */ pthread_attr_t uorb_attr; pthread_attr_init(&uorb_attr); diff --git a/apps/mavlink/orb_topics.h b/apps/mavlink/orb_topics.h index 6860702d2..1b371e5cd 100644 --- a/apps/mavlink/orb_topics.h +++ b/apps/mavlink/orb_topics.h @@ -77,6 +77,7 @@ struct mavlink_subscriptions { int spg_sub; int debug_key_value; int input_rc_sub; + int optical_flow; }; extern struct mavlink_subscriptions mavlink_subs; diff --git a/apps/mavlink_onboard/mavlink_receiver.c b/apps/mavlink_onboard/mavlink_receiver.c index 45784eca7..1216eb063 100644 --- a/apps/mavlink_onboard/mavlink_receiver.c +++ b/apps/mavlink_onboard/mavlink_receiver.c @@ -145,7 +145,7 @@ handle_message(mavlink_message_t *msg) struct optical_flow_s f; - f.timestamp = flow.time_usec; + f.timestamp = hrt_absolute_time(); f.flow_raw_x = flow.flow_x; f.flow_raw_y = flow.flow_y; f.flow_comp_x_m = flow.flow_comp_m_x; |