diff options
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 20 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 3 |
2 files changed, 11 insertions, 12 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index e1ebc16cc..472e2810d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -669,16 +669,16 @@ protected: if (gps_sub->update(&gps_time, &gps)) { mavlink_msg_gps_raw_int_send(_channel, - gps.timestamp_position, - gps.fix_type, - gps.lat, - gps.lon, - gps.alt, - cm_uint16_from_m_float(gps.eph), - cm_uint16_from_m_float(gps.epv), - gps.vel_m_s * 100.0f, - _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f, - gps.satellites_visible); + gps->timestamp_position, + gps->fix_type, + gps->lat, + gps->lon, + gps->alt, + cm_uint16_from_m_float(gps->eph), + cm_uint16_from_m_float(gps->epv), + gps->vel_m_s * 100.0f, + _wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f, + gps->satellites_used); } } }; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index bb977d277..53a1638a3 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -751,9 +751,8 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.vel_ned_valid = true; hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f); - hil_gps.timestamp_satellites = timestamp; hil_gps.fix_type = gps.fix_type; - hil_gps.satellites_visible = gps.satellites_visible; + hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used? if (_gps_pub < 0) { _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); |