From 82d2ab677ea6bfccdc211a6e0c77a7904175e0c0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 22 Apr 2013 13:47:45 +0200 Subject: Fixes to MAVLink HIL --- apps/mavlink/mavlink_receiver.c | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 798e509e0..588b3e07e 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -395,7 +395,7 @@ handle_message(mavlink_message_t *msg) static uint64_t old_timestamp = 0; /* sensors general */ - hil_sensors.timestamp = imu.time_usec; + hil_sensors.timestamp = hrt_absolute_time(); /* hil gyro */ static const float mrad2rad = 1.0e-3f; @@ -446,12 +446,16 @@ handle_message(mavlink_message_t *msg) hil_sensors.baro_alt_meter = h; hil_sensors.baro_temp_celcius = imu.temperature; + hil_sensors.gyro_counter = hil_counter; + hil_sensors.magnetometer_counter = hil_counter; + hil_sensors.accelerometer_counter = hil_counter; + /* publish */ orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); // increment counters - hil_counter += 1 ; - hil_frames += 1 ; + hil_counter++; + hil_frames++; // output if ((timestamp - old_timestamp) > 10000000) { -- cgit v1.2.3