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MavLinkMultirotorApi: correctly set the HIL_SENSOR fields_updated field #2549

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Apr 8, 2020
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MavLinkMultirotorApi: correctly set the HIL_SENSOR fields_updated field #2549

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9 changes: 8 additions & 1 deletion AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1333,14 +1333,21 @@ class MavLinkMultirotorApi : public MultirotorApiBase
hil_sensor.ygyro = gyro.y();
hil_sensor.zgyro = gyro.z();

hil_sensor.fields_updated = 0b111 | 0b111000; // Set accel and gyro bit fields respectively

hil_sensor.xmag = mag.x();
hil_sensor.ymag = mag.y();
hil_sensor.zmag = mag.z();

hil_sensor.fields_updated = hil_sensor.fields_updated | 0b111000000; // Set mag bit field

hil_sensor.abs_pressure = abs_pressure;
hil_sensor.pressure_alt = pressure_alt;

hil_sensor.fields_updated = hil_sensor.fields_updated | 0b1101000000000; // Set baro bit field

//TODO: enable temperature? diff_pressure
hil_sensor.fields_updated = was_reset_ ? (1 << 31) : 0;
hil_sensor.fields_updated = was_reset_ ? (1 << 31) : hil_sensor.fields_updated;

if (hil_node_ != nullptr) {
hil_node_->sendMessage(hil_sensor);
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