diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_orb_listener.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_orb_listener.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/modules/mavlink/mavlink_orb_listener.cpp b/src/modules/mavlink/mavlink_orb_listener.cpp index fa1a6887e..a6bcd4c0a 100644 --- a/src/modules/mavlink/mavlink_orb_listener.cpp +++ b/src/modules/mavlink/mavlink_orb_listener.cpp @@ -296,11 +296,11 @@ MavlinkOrbListener::l_vehicle_status(const struct listener *l) } void -MavlinkOrbListener::l_rc__mavlink->get_chan()nels(const struct listener *l) +MavlinkOrbListener::l_rc_channels(const struct listener *l) { - /* copy rc _mavlink->get_chan()nels into local buffer */ - orb_copy(ORB_ID(rc__mavlink->get_chan()nels), rc_sub, &rc); - // XXX Add RC _mavlink->get_chan()nels scaled message here + /* copy rc channels into local buffer */ + orb_copy(ORB_ID(rc_channels), l->mavlink->get_subs()->rc_sub, &l->listener->rc); + // XXX Add RC channels scaled message here } void @@ -315,7 +315,7 @@ MavlinkOrbListener::l_input_rc(const struct listener *l) for (unsigned i = 0; (i * port_width) < (l->listener->rc_raw.channel_count + port_width); i++) { /* Channels are sent in MAVLink main loop at a fixed interval */ - mavlink_msg_rc_channels_raw_send(_mavlink->get_chan(), + mavlink_msg_rc_channels_raw_send(l->mavlink->get_chan(), l->listener->rc_raw.timestamp / 1000, i, (l->listener->rc_raw.channel_count > (i * port_width) + 0) ? l->listener->rc_raw.values[(i * port_width) + 0] : UINT16_MAX, @@ -335,7 +335,7 @@ void MavlinkOrbListener::l_global_position(const struct listener *l) { /* copy global position data into local buffer */ - orb_copy(ORB_ID(vehicle_global_position), _mavlink->get_subs()->global_pos_sub, l->listener->global_pos); + orb_copy(ORB_ID(vehicle_global_position), l->mavlink->get_subs()->global_pos_sub, &l->listener->global_pos); mavlink_msg_global_position_int_send(l->mavlink->get_chan(), l->listener->global_pos.timestamp / 1000, @@ -353,7 +353,7 @@ void MavlinkOrbListener::l_local_position(const struct listener *l) { /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_local_position), _mavlink->get_subs()->local_pos_sub, l->listener->local_pos); + orb_copy(ORB_ID(vehicle_local_position), l->mavlink->get_subs()->local_pos_sub, &l->listener->local_pos); if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) mavlink_msg_local_position_ned_send(l->mavlink->get_chan(), @@ -407,7 +407,7 @@ MavlinkOrbListener::l_attitude_setpoint(const struct listener *l) struct vehicle_attitude_setpoint_s att_sp; /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude_setpoint), _mavlink->get_subs()->spa_sub, &att_sp); + orb_copy(ORB_ID(vehicle_attitude_setpoint), l->mavlink->get_subs()->spa_sub, &att_sp); if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(l->mavlink->get_chan(), @@ -464,13 +464,13 @@ MavlinkOrbListener::l_actuator_outputs(const struct listener *l) act_outputs.output[7]); /* only send in HIL mode and only send first group for HIL */ - if (l->listener->mavlink_hil_enabled && l->listener->armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { + if (l->mavlink->hil_enabled() && l->listener->armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; uint8_t mavlink_base_mode = 0; uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + l->mavlink->get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); /* HIL message as per MAVLink spec */ @@ -616,9 +616,9 @@ MavlinkOrbListener::l_optical_flow(const struct listener *l) void MavlinkOrbListener::l_home(const struct listener *l) { - orb_copy(ORB_ID(home_position), l->mavlink->get_subs()->home_sub, &home); + orb_copy(ORB_ID(home_position), l->mavlink->get_subs()->home_sub, &l->listener->home); - mavlink_msg_gps_global_origin_send(l->mavlink->get_chan(), (int32_t)(home.lat*1e7d), (int32_t)(home.lon*1e7d), (int32_t)(home.alt)*1e3f); + mavlink_msg_gps_global_origin_send(l->mavlink->get_chan(), (int32_t)(l->listener->home.lat*1e7d), (int32_t)(l->listener->home.lon*1e7d), (int32_t)(l->listener->home.alt)*1e3f); } void |