From b1342c2d39b53cd9873630479345c6d283a737e1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 5 Jan 2015 22:30:00 +1100
Subject: [PATCH] GCS_MAVLink: send SCALED_PRESSURE2 if available
---
libraries/GCS_MAVLink/GCS_Common.cpp | 20 ++++++++++++++++----
1 file changed, 16 insertions(+), 4 deletions(-)
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 4edd4dfaf..38278077f 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1044,13 +1044,25 @@ void GCS_MAVLINK::send_raw_imu(const AP_InertialSensor &ins, const Compass &comp
void GCS_MAVLINK::send_scaled_pressure(AP_Baro &barometer)
{
- float pressure = barometer.get_pressure();
+ uint32_t now = hal.scheduler->millis();
+ float pressure = barometer.get_pressure(0);
mavlink_msg_scaled_pressure_send(
chan,
- hal.scheduler->millis(),
+ now,
pressure*0.01f, // hectopascal
- (pressure - barometer.get_ground_pressure())*0.01f, // hectopascal
- barometer.get_temperature()*100); // 0.01 degrees C
+ (pressure - barometer.get_ground_pressure(0))*0.01f, // hectopascal
+ barometer.get_temperature(0)*100); // 0.01 degrees C
+#if BARO_MAX_INSTANCES > 1
+ if (barometer.num_instances() > 1) {
+ pressure = barometer.get_pressure(1);
+ mavlink_msg_scaled_pressure2_send(
+ chan,
+ now,
+ pressure*0.01f, // hectopascal
+ (pressure - barometer.get_ground_pressure(1))*0.01f, // hectopascal
+ barometer.get_temperature(1)*100); // 0.01 degrees C
+ }
+#endif
}
void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer)
--
GitLab