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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl

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Conflicts:
	src/drivers/px4fmu/fmu.cpp
This commit is contained in:
Thomas Gubler
2015-02-01 11:06:47 +01:00
parent 7c958a2cca a2a244584e
commit 84ff3c671d
63 changed files with 807 additions and 484 deletions
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21
src/modules/mavlink/mavlink_receiver.cpp
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@@ -1043,10 +1043,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
gyro.temperature = imu.temperature;
if (_gyro_pub < 0) {
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro);
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
} else {
orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro);
orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
}
}
@@ -1065,10 +1065,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
accel.temperature = imu.temperature;
if (_accel_pub < 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
}
}
@@ -1086,10 +1086,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
mag.z = imu.zmag;
if (_mag_pub < 0) {
_mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag);
/* publish to the first mag topic */
_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
} else {
orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag);
orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
}
}
@@ -1104,10 +1105,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
baro.temperature = imu.temperature;
if (_baro_pub < 0) {
_baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro);
_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
} else {
orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro);
orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
}
}
@@ -1394,10 +1395,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
accel.temperature = 25.0f;
if (_accel_pub < 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
}
}