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mavlink: add missing fields for DISTANCE_SENSOR

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Jacob Dahl 2025-02-18 10:01:32 -09:00 committed by Daniel Agar
parent 786c2a7f39
commit 1db50cb331
1 changed files with 16 additions and 0 deletions
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16
src/modules/mavlink/streams/DISTANCE_SENSOR.hpp
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@ -94,6 +94,22 @@ private:
msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm
msg.orientation = dist_sensor.orientation;
msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2
msg.horizontal_fov = dist_sensor.h_fov;
msg.vertical_fov = dist_sensor.v_fov;
msg.quaternion[0] = dist_sensor.q[0];
msg.quaternion[1] = dist_sensor.q[1];
msg.quaternion[2] = dist_sensor.q[2];
msg.quaternion[3] = dist_sensor.q[3];
if (dist_sensor.signal_quality < 0) {
msg.signal_quality = 0;
} else if (dist_sensor.signal_quality == 0) {
msg.signal_quality = 1;
} else {
msg.signal_quality = dist_sensor.signal_quality;
}
mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);