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Fixes for sitl gazebo ground truth. (#5932)

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* Fixes for sitl gazebo ground truth.

* Switch ekf2 to new logging module for sitl.
This commit is contained in:
James Goppert
2016-12-03 11:40:53 -05:00
committed by GitHub
parent d71645b321
commit 4b6a11161e
3 changed files with 6 additions and 6 deletions
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Tools/sitl_gazebo
+1 -1
Submodule Tools/sitl_gazebo updated: f6a067a4bc...a8f57664c7
posix-configs/SITL/init/ekf2/iris
+1 -1
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@@ -73,6 +73,6 @@ mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556 mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 100 -e -t -a logger start -e -t
mavlink boot_complete mavlink boot_complete
replay trystart replay trystart
src/modules/simulator/simulator_mavlink.cpp
+4 -4
View File
@@ -403,11 +403,11 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
hil_gpos.time_utc_usec = timestamp; hil_gpos.time_utc_usec = timestamp;
hil_gpos.lat = hil_state.lat; hil_gpos.lat = hil_state.lat;
hil_gpos.lon = hil_state.lon; hil_gpos.lon = hil_state.lon;
hil_gpos.alt = hil_state.alt; hil_gpos.alt = hil_state.alt / 1000.0f;
hil_gpos.vel_n = hil_state.vx; hil_gpos.vel_n = hil_state.vx / 100.0f;
hil_gpos.vel_e = hil_state.vy; hil_gpos.vel_e = hil_state.vy / 100.0f;
hil_gpos.vel_d = hil_state.vz; hil_gpos.vel_d = hil_state.vz / 100.0f;
// always publish ground truth attitude message // always publish ground truth attitude message
int hil_gpos_multi; int hil_gpos_multi;