From cf27fc59c7115948e18d62ee46c728a8643dd170 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Wed, 13 May 2015 10:31:52 +0200 Subject: [PATCH] read hil sensor message instead of highres imu message --- src/modules/simulator/simulator_mavlink.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 42c7ab6bc6..d468dd6661 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -109,7 +109,7 @@ static void fill_manual_control_sp_msg(struct manual_control_setpoint_s *manual, manual->z = man_msg->z / 1000.0f; } -void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_highres_imu_t *imu) { +void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_hil_sensor_t *imu) { hrt_abstime timestamp = hrt_absolute_time(); sensor->timestamp = timestamp; sensor->gyro_raw[0] = imu->xgyro * 1000.0f; @@ -156,9 +156,9 @@ void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_highres void Simulator::handle_message(mavlink_message_t *msg) { switch(msg->msgid) { - case MAVLINK_MSG_ID_HIGHRES_IMU: - mavlink_highres_imu_t imu; - mavlink_msg_highres_imu_decode(msg, &imu); + case MAVLINK_MSG_ID_HIL_SENSOR: + mavlink_hil_sensor_t imu; + mavlink_msg_hil_sensor_decode(msg, &imu); fill_sensors_from_imu_msg(&_sensor, &imu); // publish message