commit

src/uas/UAS.cc

@@ -3140,13 +3140,26 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
 void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
                     float flow_comp_m_y, quint8 quality, float ground_distance)
 {
+    // FIXME: This needs to be updated for new mavlink_msg_hil_optical_flow_pack api
+    
+    Q_UNUSED(time_us);
+    Q_UNUSED(flow_x);
+    Q_UNUSED(flow_y);
+    Q_UNUSED(flow_comp_m_x);
+    Q_UNUSED(flow_comp_m_y);
+    Q_UNUSED(quality);
+    Q_UNUSED(ground_distance);
+    
     if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
     {
+#if 0
         mavlink_message_t msg;
         mavlink_msg_hil_optical_flow_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
-                                   time_us, 0, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance);
+                                   time_us, 0, 0 /* hack */, flow_x, flow_y, 0.0f /* hack */, 0.0f /* hack */, 0.0f /* hack */, 0 /* hack */, quality, ground_distance);
+        
         sendMessage(msg);
         lastSendTimeOpticalFlow = QGC::groundTimeMilliseconds();
+#endif
     }
     else
     {