From 801cbc856e4065fc0ffe331881cc1b6e350211da Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@gmail.com>
Date: Tue, 5 Mar 2019 10:27:57 -0700
Subject: [PATCH] Cut case MAVLINK_MSG_ID_HIL_GPS content and paste into
handle_message_hil_gps() method.
---
src/modules/simulator/simulator.h | 1 +
src/modules/simulator/simulator_mavlink.cpp | 21 +++++++++++++--------
2 files changed, 14 insertions(+), 8 deletions(-)
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index 6099339c44..5aa663542c 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -332,6 +332,7 @@ private:
void handle_message(mavlink_message_t *msg);
void handle_message_distance_sensor(const mavlink_message_t *msg);
+ void handle_message_hil_gps(const mavlink_message_t *msg);
void handle_message_hil_sensor(const mavlink_message_t *msg);
void handle_message_hil_state_quaternion(const mavlink_message_t *msg);
void handle_message_landing_target(const mavlink_message_t *msg);
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index aa3f3a853d..f13661f48e 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -310,14 +310,7 @@ void Simulator::handle_message(mavlink_message_t *msg)
break;
case MAVLINK_MSG_ID_HIL_GPS:
- mavlink_hil_gps_t gps_sim;
- mavlink_msg_hil_gps_decode(msg, &gps_sim);
-
- if (_publish) {
- //PX4_WARN("FIXME: Need to publish GPS topic. Not done yet.");
- }
-
- update_gps(&gps_sim);
+ handle_message_hil_gps(msg);
break;
case MAVLINK_MSG_ID_RC_CHANNELS:
@@ -351,6 +344,18 @@ void Simulator::handle_message_distance_sensor(const mavlink_message_t *msg)
publish_distance_topic(&dist);
}
+void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
+{
+ mavlink_hil_gps_t gps_sim;
+ mavlink_msg_hil_gps_decode(msg, &gps_sim);
+
+ if (_publish) {
+ //PX4_WARN("FIXME: Need to publish GPS topic. Not done yet.");
+ }
+
+ update_gps(&gps_sim);
+}
+
void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
{
mavlink_hil_sensor_t imu;
--
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