From 07e6738586e28763b595efaeca86ab94b1f55e21 Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Tue, 19 Sep 2017 14:24:27 +0200 Subject: [PATCH] mavlink receiver: update for new orientation convention --- src/modules/mavlink/mavlink_receiver.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7a8183e75b..216e4bd7c3 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -737,8 +737,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) d.max_distance = 5.0f; d.current_distance = flow.distance; /* both are in m */ d.type = 1; - d.id = MAV_DISTANCE_SENSOR_ULTRASOUND; - d.orientation = 8; + d.id = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND; + d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING; d.covariance = 0.0; if (_flow_distance_sensor_pub == nullptr) { @@ -789,9 +789,9 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) d.min_distance = 0.3f; d.max_distance = 5.0f; d.current_distance = flow.distance; /* both are in m */ - d.type = 1; + d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; d.id = 0; - d.orientation = 8; + d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING; d.covariance = 0.0; if (_hil_distance_sensor_pub == nullptr) {