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mavlink: include differential pressure in fields updated bit shift #9296

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Apr 16, 2018
+10 −2
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mavlink: include differential pressure in fields updated bit shift #9296

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12 changes: 10 additions & 2 deletions src/modules/mavlink/mavlink_messages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -666,6 +666,7 @@ class MavlinkStreamHighresIMU : public MavlinkStream
uint64_t _gyro_timestamp;
uint64_t _mag_timestamp;
uint64_t _baro_timestamp;
uint64_t _dpres_timestamp;

/* do not allow top copying this class */
MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &);
Expand All @@ -682,7 +683,8 @@ class MavlinkStreamHighresIMU : public MavlinkStream
_accel_timestamp(0),
_gyro_timestamp(0),
_mag_timestamp(0),
_baro_timestamp(0)
_baro_timestamp(0),
_dpres_timestamp(0)
{}

bool send(const hrt_abstime t)
Expand Down Expand Up @@ -717,7 +719,7 @@ class MavlinkStreamHighresIMU : public MavlinkStream
_air_data_sub->update(&air_data);

if (_baro_timestamp != air_data.timestamp) {
/* mark last group dimensions as changed */
/* mark fourth group (baro fields) dimensions as changed */
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
_baro_timestamp = air_data.timestamp;
}
Expand All @@ -728,6 +730,12 @@ class MavlinkStreamHighresIMU : public MavlinkStream
differential_pressure_s differential_pressure = {};
_differential_pressure_sub->update(&differential_pressure);

if (_dpres_timestamp != differential_pressure.timestamp) {
/* mark fourth group (dpres field) dimensions as changed */
fields_updated |= (1 << 10);
_dpres_timestamp = differential_pressure.timestamp;
}

mavlink_highres_imu_t msg = {};

msg.time_usec = sensor.timestamp;
Expand Down