void GCS_MAVLINK::send_scaled_pressure(AP_Baro &barometer)
{
uint32_t now = hal.scheduler->millis();
float pressure = barometer.get_pressure(0);
mavlink_msg_scaled_pressure_send(
chan,
now,
pressure*0.01f, // hectopascal
(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
#if BARO_MAX_INSTANCES > 2
if (barometer.num_instances() > 2) {
pressure = barometer.get_pressure(2);
mavlink_msg_scaled_pressure3_send(
chan,
now,
pressure*0.01f, // hectopascal
(pressure - barometer.get_ground_pressure(2))*0.01f, // hectopascal
barometer.get_temperature(2)*100); // 0.01 degrees C
}
#endif
}
void GCS_MAVLINK::send_scaled_pressure(AP_Baro &barometer)
{
uint32_t now = AP_HAL::millis();
float pressure = barometer.get_pressure(0);
mavlink_msg_scaled_pressure_send(
chan,
now,
pressure*0.01f, // hectopascal
(pressure - barometer.get_ground_pressure(0))*0.01f, // hectopascal
barometer.get_temperature(0)*100); // 0.01 degrees C
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
}
if (barometer.num_instances() > 2) {
pressure = barometer.get_pressure(2);
mavlink_msg_scaled_pressure3_send(
chan,
now,
pressure*0.01f, // hectopascal
(pressure - barometer.get_ground_pressure(2))*0.01f, // hectopascal
barometer.get_temperature(2)*100); // 0.01 degrees C
}
}
// Work around to get temperature sensor data out
void GCS_MAVLINK_Sub::send_scaled_pressure3()
{
if (!sub.celsius.healthy()) {
return;
}
mavlink_msg_scaled_pressure3_send(
chan,
AP_HAL::millis(),
0,
0,
sub.celsius.temperature() * 100);
}