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Valentin Platzgummer
qgroundcontrol
Commits
d064ac00
Commit
d064ac00
authored
Nov 28, 2012
by
Lorenz Meier
Browse files
Potential fix for HIL state machine issue
parent
cf8e48eb
Changes
2
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Inline
Side-by-side
src/comm/QGCFlightGearLink.cc
View file @
d064ac00
...
...
@@ -338,6 +338,8 @@ bool QGCFlightGearLink::connectSimulation()
connect
(
mav
,
SIGNAL
(
hilControlsChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
uint8_t
,
uint8_t
)),
this
,
SLOT
(
updateControls
(
uint64_t
,
float
,
float
,
float
,
float
,
uint8_t
,
uint8_t
)));
connect
(
this
,
SIGNAL
(
hilStateChanged
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)),
mav
,
SLOT
(
sendHilState
(
uint64_t
,
float
,
float
,
float
,
float
,
float
,
float
,
int32_t
,
int32_t
,
int32_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
,
int16_t
)));
mav
->
startHil
();
//connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
// Catch process error
QObject
::
connect
(
process
,
SIGNAL
(
error
(
QProcess
::
ProcessError
)),
...
...
src/uas/UAS.cc
View file @
d064ac00
...
...
@@ -2699,11 +2699,11 @@ void UAS::startHil()
{
if
(
hilEnabled
)
return
;
hilEnabled
=
true
;
// Connect HIL simulation link
simulation
->
connectSimulation
();
mavlink_message_t
msg
;
mavlink_msg_set_mode_pack
(
mavlink
->
getSystemId
(),
mavlink
->
getComponentId
(),
&
msg
,
this
->
getUASID
(),
mode
|
MAV_MODE_FLAG_HIL_ENABLED
,
navMode
);
sendMessage
(
msg
);
// Connect HIL simulation link
simulation
->
connectSimulation
();
}
/**
...
...
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