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Code Issues Releases Activity

Fixed bug which prevented HiTL timers from functioning as intended.

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This commit is contained in:
Kenz Dale 2012-08-29 14:41:23 +02:00
parent f888eaed41
commit 037182f522
1 changed files with 5 additions and 4 deletions
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9
ground/openpilotgcs/src/plugins/hitl/simulator.cpp
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@ -577,7 +577,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
gcsReceiver->setData(gcsRcvrData);
gcsRcvrTime.addMSecs(settings.minOutputPeriod);
gcsRcvrTime=gcsRcvrTime.addMSecs(settings.minOutputPeriod);
}
}
@ -585,6 +585,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
if (settings.gpsPositionEnabled) {
if (gpsPosTime.msecsTo(currentTime) >= settings.gpsPosRate) {
qDebug()<< " GPS time:" << gpsPosTime << ", currentTime: " << currentTime << ", difference: " << gpsPosTime.msecsTo(currentTime);
// Update GPS Position objects
GPSPosition::DataFields gpsPosData;
memset(&gpsPosData, 0, sizeof(GPSPosition::DataFields));
@ -610,7 +611,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
gpsVel->setData(gpsVelData);
gpsPosTime.addMSecs(settings.gpsPosRate);
gpsPosTime=gpsPosTime.addMSecs(settings.gpsPosRate);
}
}
@ -632,7 +633,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
positionActualData.Down = (out.dstD/*-initD*/) + noise.positionActualData.Down;
posActual->setData(positionActualData);
groundTruthTime.addMSecs(settings.groundTruthRate);
groundTruthTime=groundTruthTime.addMSecs(settings.groundTruthRate);
}
}
@ -694,7 +695,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
accelData.z = out.accZ + noise.accelData.z;
accels->setData(accelData);
attRawTime.addMSecs(settings.attRawRate);
attRawTime=attRawTime.addMSecs(settings.attRawRate);
}
}
}