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update sitl_gazebo to use the vision position estimate

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ChristophTobler
2017-07-28 09:09:56 +02:00
committed by ChristophTobler
parent dc8caeaedf
commit 44cd65798b
3 changed files with 40 additions and 1 deletions
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src/modules/simulator/simulator.h
+5
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@@ -242,6 +242,8 @@ private:
_gyro_pub(nullptr),
_mag_pub(nullptr),
_flow_pub(nullptr),
_vision_position_pub(nullptr),
_vision_attitude_pub(nullptr),
_dist_pub(nullptr),
_battery_pub(nullptr),
_initialized(false),
@@ -320,6 +322,8 @@ private:
orb_advert_t _gyro_pub;
orb_advert_t _mag_pub;
orb_advert_t _flow_pub;
orb_advert_t _vision_position_pub;
orb_advert_t _vision_attitude_pub;
orb_advert_t _dist_pub;
orb_advert_t _battery_pub;
@@ -334,6 +338,7 @@ private:
// class methods
int publish_sensor_topics(mavlink_hil_sensor_t *imu);
int publish_flow_topic(mavlink_hil_optical_flow_t *flow);
int publish_ev_topic(mavlink_vision_position_estimate_t *ev_mavlink);
int publish_distance_topic(mavlink_distance_sensor_t *dist);
#ifndef __PX4_QURT