yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Parameter update - Rename variables in modules/simulator

Browse Source 
using parameter_update.py script
This commit is contained in:
bresch
2019-03-25 13:29:13 +01:00
committed by Matthias Grob
parent f08c00f324
commit 6c823903bc
2 changed files with 9 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
src/modules/simulator/simulator_mavlink.cpp
View File

@@ -85,7 +85,7 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs(const
const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
int _system_type = _param_system_type.get();
int _system_type = _param_mav_type.get();
/* scale outputs depending on system type */
if (_system_type == MAV_TYPE_QUADROTOR ||
@@ -184,7 +184,7 @@ void Simulator::send_controls()
const mavlink_hil_actuator_controls_t hil_act_control = actuator_controls_from_outputs(actuators);
mavlink_message_t message{};
mavlink_msg_hil_actuator_controls_encode(_param_system_id.get(), _param_component_id.get(), &message, &hil_act_control);
mavlink_msg_hil_actuator_controls_encode(_param_mav_sys_id.get(), _param_mav_comp_id.get(), &message, &hil_act_control);
PX4_DEBUG("sending controls t=%ld (%ld)", actuators.timestamp, hil_act_control.time_usec);
@@ -385,7 +385,7 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
// battery simulation (limit update to 100Hz)
if (hrt_elapsed_time(&_battery_status.timestamp) >= 10_ms) {
const float discharge_interval_us = _battery_drain_interval_s.get() * 1000 * 1000;
const float discharge_interval_us = _param_sim_bat_drain.get() * 1000 * 1000;
bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
@@ -642,7 +642,7 @@ void Simulator::request_hil_state_quaternion()
cmd_long.command = MAV_CMD_SET_MESSAGE_INTERVAL;
cmd_long.param1 = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
cmd_long.param2 = 5e3;
mavlink_msg_command_long_encode(_param_system_id.get(), _param_component_id.get(), &message, &cmd_long);
mavlink_msg_command_long_encode(_param_mav_sys_id.get(), _param_mav_comp_id.get(), &message, &cmd_long);
send_mavlink_message(message);
}
@@ -652,7 +652,7 @@ void Simulator::send_heartbeat()
mavlink_message_t message = {};
hb.autopilot = 12;
hb.base_mode |= (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 128 : 0;
mavlink_msg_heartbeat_encode(_param_system_id.get(), _param_component_id.get(), &message, &hb);
mavlink_msg_heartbeat_encode(_param_mav_sys_id.get(), _param_mav_comp_id.get(), &message, &hb);
send_mavlink_message(message);
}