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mavlink: Only send messages when we have updates for them.

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Lorenz Meier
2014-03-16 13:48:33 +01:00
parent 717e1bd374
commit 3874bca208
4 changed files with 276 additions and 225 deletions
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9
src/modules/mavlink/mavlink_receiver.cpp
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@@ -586,7 +586,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.gyro_rad_s[0] = imu.xgyro;
hil_sensors.gyro_rad_s[1] = imu.ygyro;
hil_sensors.gyro_rad_s[2] = imu.zgyro;
hil_sensors.gyro_counter = _hil_counter;
hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
@@ -596,7 +595,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.accelerometer_m_s2[2] = imu.zacc;
hil_sensors.accelerometer_mode = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
hil_sensors.accelerometer_counter = _hil_counter;
hil_sensors.accelerometer_timestamp = timestamp;
hil_sensors.adc_voltage_v[0] = 0.0f;
hil_sensors.adc_voltage_v[1] = 0.0f;
@@ -611,15 +610,15 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.magnetometer_range_ga = 32.7f; // int16
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
hil_sensors.magnetometer_counter = _hil_counter;
hil_sensors.magnetometer_timestamp = timestamp;
hil_sensors.baro_pres_mbar = imu.abs_pressure;
hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.baro_counter = _hil_counter;
hil_sensors.baro_timestamp = timestamp;
hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
hil_sensors.differential_pressure_counter = _hil_counter;
hil_sensors.differential_pressure_timestamp = timestamp;
/* publish combined sensor topic */
if (_sensors_pub > 0) {