From 9597d77253ab23e57ad07321a68b71b67cbe96ba Mon Sep 17 00:00:00 2001 From: pixhawk Date: Thu, 26 Aug 2010 21:48:23 +0200 Subject: [PATCH] Added global position --- src/comm/MAVLinkSimulationLink.cc | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc index 6aeefc451..7d5d6e354 100644 --- a/src/comm/MAVLinkSimulationLink.cc +++ b/src/comm/MAVLinkSimulationLink.cc @@ -404,13 +404,20 @@ void MAVLinkSimulationLink::mainloop() memcpy(stream+streampointer,buffer, bufferlength); streampointer += bufferlength; - // Send back new position + // GPS RAW mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+x*0.001f, 8.548103+y*0.001f, z, 0, 0, 2.5f, 0.1f); bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); //add data into datastream memcpy(stream+streampointer,buffer, bufferlength); streampointer += bufferlength; + // GLOBAL POSITION + mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 3, 47.376417+x*0.001f, 8.548103+y*0.001f, z, 0, 0); + bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); + //add data into datastream + memcpy(stream+streampointer,buffer, bufferlength); + streampointer += bufferlength; + static int rcCounter = 0; if (rcCounter == 2) { -- 2.22.0