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mavlink hil: add HIL_CONTROLS publication for compatibility (eg. with mavros)

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Beat Küng
2016-09-02 12:07:57 +02:00
parent 3de4ec7093
commit 90c7b06152
1 changed files with 2 additions and 0 deletions
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2
src/modules/mavlink/mavlink_main.cpp
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@@ -852,12 +852,14 @@ Mavlink::set_hil_enabled(bool hil_enabled)
if (hil_enabled && !_hil_enabled) {
_hil_enabled = true;
configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
configure_stream("HIL_CONTROLS", 200.0f); //for compatibility, publish the old message as well
}
/* disable HIL */
if (!hil_enabled && _hil_enabled) {
_hil_enabled = false;
configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
configure_stream("HIL_CONTROLS", 0.0f);
} else {
ret = ERROR;