From fb8595999f253f9a4ad873596da49703f84b4840 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 26 Apr 2013 17:43:36 +0200
Subject: [PATCH] Fixed state HIL, fixed sensor HIL XPlane x direction velocity
 vector

---
 src/comm/QGCXPlaneLink.cc | 4 ++--
 src/uas/UAS.cc            | 7 +++++--
 src/uas/UAS.h             | 1 +
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index cb5bf335f..a695cb7c4 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -567,8 +567,8 @@ void QGCXPlaneLink::readBytes()
             }
             else if (p.index == 21 && xPlaneVersion == 10)
             {
-                vx = p.f[3];
-                vy = -p.f[5];
+                vy = p.f[3];
+                vx = -p.f[5];
                 vz = p.f[4];
             }
             else if (p.index == 12)
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 69a8805d5..a1d85cc31 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -112,7 +112,9 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     lastNonNullTime(0),
     onboardTimeOffsetInvalidCount(0),
     hilEnabled(false),
-    lastSendTimeGPS(0)
+    sensorHil(false),
+    lastSendTimeGPS(0),
+    lastSendTimeSensors(0)
 
 {
     for (unsigned int i = 0; i<255;++i)
@@ -2733,7 +2735,7 @@ void UAS::sendHilState(uint64_t time_us, float roll, float pitch, float yaw, flo
 {
     if (this->mode & MAV_MODE_FLAG_HIL_ENABLED)
     {
-        if (sensorHil) {
+        if (QGC::groundTimeMilliseconds() - lastSendTimeSensors < 100) {
             // Emit attitude for cross-check
             emit attitudeChanged(this, 201, roll, pitch, yaw, getUnixTime());
             emit valueChanged(uasId, "roll sim", "rad", roll, getUnixTime());
@@ -2777,6 +2779,7 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
                                      fields_changed);
         sendMessage(msg);
         sensorHil = true;
+        lastSendTimeSensors = QGC::groundTimeMilliseconds();
     }
     else
     {
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index c13e85560..bfb02bf70 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -716,6 +716,7 @@ protected:
     bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
     bool sensorHil;             ///< True if sensor HIL is enabled
     quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
+    quint64 lastSendTimeSensors;
 
 protected slots:
     /** @brief Write settings to disk */
-- 
2.22.0