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Fixes for sitl gazebo ground truth. (#5932)

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* Fixes for sitl gazebo ground truth.

* Switch ekf2 to new logging module for sitl.
This commit is contained in:
James Goppert 2016-12-03 11:40:53 -05:00 committed by GitHub
parent d71645b321
commit 4b6a11161e
3 changed files with 6 additions and 6 deletions
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2
Tools/sitl_gazebo

@ -1 +1 @@
Subproject commit f6a067a4bc75e1dd8b871cd78197f38dea28ea3b
Subproject commit a8f57664c7bf6f4d8ab7a0c01d65181455151ca0

2
posix-configs/SITL/init/ekf2/iris
View File

@ -73,6 +73,6 @@ mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
sdlog2 start -r 100 -e -t -a
logger start -e -t
mavlink boot_complete
replay trystart

8
src/modules/simulator/simulator_mavlink.cpp
View File

@ -403,11 +403,11 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
hil_gpos.time_utc_usec = timestamp;
hil_gpos.lat = hil_state.lat;
hil_gpos.lon = hil_state.lon;
hil_gpos.alt = hil_state.alt;
hil_gpos.alt = hil_state.alt / 1000.0f;
hil_gpos.vel_n = hil_state.vx;
hil_gpos.vel_e = hil_state.vy;
hil_gpos.vel_d = hil_state.vz;
hil_gpos.vel_n = hil_state.vx / 100.0f;
hil_gpos.vel_e = hil_state.vy / 100.0f;
hil_gpos.vel_d = hil_state.vz / 100.0f;
// always publish ground truth attitude message
int hil_gpos_multi;