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Fix for sensor airspeed enable.

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Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
This commit is contained in:
Benjamin Perseghetti
2023-01-25 12:20:32 -05:00
parent 90d904bfd4
commit 29e1e0df91
6 changed files with 16 additions and 32 deletions
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src/modules/simulation/gz_bridge/CMakeLists.txt
-1
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@@ -35,7 +35,6 @@
find_package(gz-transport
#REQUIRED COMPONENTS core
NAMES
#ignition-transport11 # IGN (Fortress and earlier) no longer supported
gz-transport12
#QUIET
)
src/modules/simulation/gz_bridge/GZBridge.cpp
+4 -5
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@@ -152,7 +152,7 @@ int GZBridge::init()
return PX4_ERROR;
}
#if 0
// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/airspeed_link/sensor/air_speed/air_speed";
@@ -162,7 +162,6 @@ int GZBridge::init()
return PX4_ERROR;
}
#endif
if (!_mixing_interface_esc.init(_model_name)) {
PX4_ERR("failed to init ESC output");
@@ -329,14 +328,14 @@ void GZBridge::clockCallback(const gz::msgs::Clock &clock)
pthread_mutex_unlock(&_node_mutex);
}
#if 0
void GZBridge::airpressureCallback(const gz::msgs::FluidPressure &air_pressure)
{
if (hrt_absolute_time() == 0) {
return;
}
pthread_mutex_lock(&_mutex);
pthread_mutex_lock(&_node_mutex);
const uint64_t time_us = (air_pressure.header().stamp().sec() * 1000000)
+ (air_pressure.header().stamp().nsec() / 1000);
@@ -353,7 +352,7 @@ void GZBridge::airpressureCallback(const gz::msgs::FluidPressure &air_pressure)
pthread_mutex_unlock(&_node_mutex);
}
#endif
void GZBridge::imuCallback(const gz::msgs::IMU &imu)
{
src/modules/simulation/gz_bridge/GZBridge.hpp
+3 -3
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@@ -59,7 +59,7 @@
#include <gz/msgs.hh>
#include <gz/transport.hh>
// #include <gz/msgs/fluid_pressure.pb.h>
#include <gz/msgs/fluid_pressure.pb.h>
#include <gz/msgs/imu.pb.h>
using namespace time_literals;
@@ -94,14 +94,14 @@ private:
void clockCallback(const gz::msgs::Clock &clock);
//void airpressureCallback(const gz::msgs::FluidPressure &air_pressure);
void airpressureCallback(const gz::msgs::FluidPressure &air_pressure);
void imuCallback(const gz::msgs::IMU &imu);
void poseInfoCallback(const gz::msgs::Pose_V &pose);
// Subscriptions
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
//uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::Publication<vehicle_angular_velocity_s> _angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};
uORB::Publication<vehicle_global_position_s> _gpos_ground_truth_pub{ORB_ID(vehicle_global_position_groundtruth)};