From f59412ba65db90e98314fca3a224678ad0604e76 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 25 Jun 2018 11:06:39 +0200
Subject: [PATCH] mavlink: only enable HIL_ACTUATOR_CONTROLS in hil if link has
enough bandwidth
Plus correct return value.
Iridium links are below that.
---
src/modules/mavlink/mavlink_main.cpp | 11 ++++-------
1 file changed, 4 insertions(+), 7 deletions(-)
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index b2e2dd2809..d9eb000112 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -859,19 +859,16 @@ Mavlink::set_hil_enabled(bool hil_enabled)
{
int ret = OK;
- /* enable HIL */
- if (hil_enabled && !_hil_enabled && (_mode != MAVLINK_MODE_IRIDIUM)) {
+ /* enable HIL (only on links with sufficient bandwidth) */
+ if (hil_enabled && !_hil_enabled && _datarate > 5000) {
_hil_enabled = true;
- configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
+ ret = configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
}
/* disable HIL */
if (!hil_enabled && _hil_enabled) {
_hil_enabled = false;
- configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
-
- } else {
- ret = PX4_ERROR;
+ ret = configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
}
return ret;
--
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