Emaxx Navigation Group / decawave_networking

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Diff: decawave_network.cpp

Revision:
2:fb2268373246
Parent:
1:93fcc351837a
Child:
3:1caa9d659257
--- a/decawave_network.cpp	Wed Feb 15 17:51:48 2017 +0000
+++ b/decawave_network.cpp	Thu Feb 16 17:44:29 2017 +0000
@@ -14,7 +14,7 @@
     dw.setCallbacks(this, &DecaWaveNetwork::callbackRX, &DecaWaveNetwork::callbackTX);
 
     LocalTimer.start();
-    checkConn.attach(this,&DecaWaveNetwork::checkConnectivity, 10.0);
+    //checkConn.attach(this,&DecaWaveNetwork::checkConnectivity, 10.0);
     dw.startRX();
 }
 
@@ -262,9 +262,19 @@
                     ranges[rng_msg.my_id] = rng_msg.range; // my_id is the id of the sender
                     
                 }
-                //      dwm_LED = !dwm_LED;
+
             }
 
+            if(msg.msgid == MAVLINK_MSG_ID_LOCAL_POSITION_NED) {
+                mavlink_local_position_ned_t pose_msg;
+                mavlink_msg_local_position_ned_decode(&msg,&pose_msg);            
+                printf("System ID %d Comp ID %d \r\n",msg.sysid,msg.compid);                
+                node_pose[msg.sysid] = pose_msg;
+
+            }            
+            
+            
+
         }// if Mavlink Parse Returns true
 
     }// End For number of bytes