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simulator: set device_ids when publishing directly

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Without setting the device_id, the preflight checks fail because the
calibration is not found.
This commit is contained in:
Julian Oes
2018-12-22 10:32:18 +01:00
parent 843033d530
commit 107606e757
1 changed files with 4 additions and 0 deletions
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src/modules/simulator/simulator_mavlink.cpp
+4
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@@ -947,6 +947,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
sensor_gyro_s gyro = {};
gyro.timestamp = timestamp;
gyro.device_id = 2293768;
gyro.x_raw = imu->xgyro * 1000.0f;
gyro.y_raw = imu->ygyro * 1000.0f;
gyro.z_raw = imu->zgyro * 1000.0f;
@@ -965,6 +966,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
sensor_accel_s accel = {};
accel.timestamp = timestamp;
accel.device_id = 1376264;
accel.x_raw = imu->xacc / (CONSTANTS_ONE_G / 1000.0f);
accel.y_raw = imu->yacc / (CONSTANTS_ONE_G / 1000.0f);
accel.z_raw = imu->zacc / (CONSTANTS_ONE_G / 1000.0f);
@@ -983,6 +985,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
struct mag_report mag = {};
mag.timestamp = timestamp;
mag.device_id = 196616;
mag.x_raw = imu->xmag * 1000.0f;
mag.y_raw = imu->ymag * 1000.0f;
mag.z_raw = imu->zmag * 1000.0f;
@@ -1001,6 +1004,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
sensor_baro_s baro = {};
baro.timestamp = timestamp;
baro.device_id = 478459;
baro.pressure = imu->abs_pressure;
baro.temperature = imu->temperature;