From 90c7b06152fb244560b0ed32a826bb1aa8af4a9e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 2 Sep 2016 12:07:57 +0200
Subject: [PATCH] mavlink hil: add HIL_CONTROLS publication for compatibility
(eg. with mavros)
---
src/modules/mavlink/mavlink_main.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index a5a7a3c969..63c9301382 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -852,12 +852,14 @@ Mavlink::set_hil_enabled(bool hil_enabled)
if (hil_enabled && !_hil_enabled) {
_hil_enabled = true;
configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
+ configure_stream("HIL_CONTROLS", 200.0f); //for compatibility, publish the old message as well
}
/* disable HIL */
if (!hil_enabled && _hil_enabled) {
_hil_enabled = false;
configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
+ configure_stream("HIL_CONTROLS", 0.0f);
} else {
ret = ERROR;
--
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