AP_Scripting: added timestamp to SIYI_control

tridge · Oct 5, 2024 · 6573aed · 6573aed
1 parent b0c2d3f
commit 6573aed
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/libraries/AP_Scripting/drivers/SIYI_control.lua b/libraries/AP_Scripting/drivers/SIYI_control.lua
@@ -166,7 +166,10 @@ end
 function send_packet_fmt(command_id, fmt, ...)
     local args = { ... }
     fmt = fmt or ""
-
+
+    if SIYI_DEBUG:get() > 1 then
+       gcs:send_text(MAV_SEVERITY.INFO, string.format("Sending cmd=0x%02x fmt=%s", command_id, fmt))
+    end
     local success, err = pcall(function()
         local packed_pkt = string.pack(fmt, table.unpack(args))
         send_packet(command_id, packed_pkt)
@@ -228,7 +231,9 @@ local function handle_temp_full_screen(data)
       return
    end
 
-   local data = string.pack("<iifffHHffffff", loc:lat(), loc:lng(), loc:alt()*0.01, gpsloc:alt()*0.01,
+   local data = string.pack("<iiifffHHffffff",
+                            millis():toint(),
+                            loc:lat(), loc:lng(), loc:alt()*0.01, gpsloc:alt()*0.01,
                             tmax*0.01, tmax_x, tmax_y,
                             siyi_attitude[1], siyi_attitude[2], siyi_attitude[3],
                             math.deg(ahrs:get_roll()), math.deg(ahrs:get_pitch()), math.deg(ahrs:get_yaw()))