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simulator : publish optical flow limits over uORB

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This commit is contained in:
Mohammed Kabir
2018-06-09 13:38:04 +02:00
committed by Lorenz Meier
parent e8f1d50758
commit 31aa1cbf01
1 changed files with 15 additions and 1 deletions
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src/modules/simulator/simulator_mavlink.cpp
+15 -1
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@@ -525,7 +525,9 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
hil_lpos.ref_alt = _hil_ref_alt; hil_lpos.ref_alt = _hil_ref_alt;
hil_lpos.ref_timestamp = _hil_ref_timestamp; hil_lpos.ref_timestamp = _hil_ref_timestamp;
hil_lpos.vxy_max = 0.0f; hil_lpos.vxy_max = 0.0f;
hil_lpos.limit_hagl = false; hil_lpos.vz_max = 0.0f;
hil_lpos.hagl_min = 0.0f;
hil_lpos.hagl_max = 0.0f;
// always publish ground truth attitude message // always publish ground truth attitude message
int hil_lpos_multi; int hil_lpos_multi;
@@ -1099,6 +1101,18 @@ int Simulator::publish_flow_topic(mavlink_hil_optical_flow_t *flow_mavlink)
flow.pixel_flow_y_integral = flow_mavlink->integrated_y; flow.pixel_flow_y_integral = flow_mavlink->integrated_y;
flow.quality = flow_mavlink->quality; flow.quality = flow_mavlink->quality;
/* fill in sensor limits */
float flow_rate_max;
param_get(param_find("SENS_FLOW_MAXR"), &flow_rate_max);
float flow_min_hgt;
param_get(param_find("SENS_FLOW_MINHGT"), &flow_min_hgt);
float flow_max_hgt;
param_get(param_find("SENS_FLOW_MAXHGT"), &flow_max_hgt);
flow.max_flow_rate = flow_rate_max;
flow.min_ground_distance = flow_min_hgt;
flow.max_ground_distance = flow_max_hgt;
/* rotate measurements according to parameter */ /* rotate measurements according to parameter */
int32_t flow_rot_int; int32_t flow_rot_int;
param_get(param_find("SENS_FLOW_ROT"), &flow_rot_int); param_get(param_find("SENS_FLOW_ROT"), &flow_rot_int);