From 4b6a11161e707fa3ebb88dff50e89b9b60b36b28 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Sat, 3 Dec 2016 11:40:53 -0500 Subject: [PATCH] Fixes for sitl gazebo ground truth. (#5932) * Fixes for sitl gazebo ground truth. * Switch ekf2 to new logging module for sitl. --- Tools/sitl_gazebo | 2 +- posix-configs/SITL/init/ekf2/iris | 2 +- src/modules/simulator/simulator_mavlink.cpp | 8 ++++---- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo index f6a067a4bc..a8f57664c7 160000 --- a/Tools/sitl_gazebo +++ b/Tools/sitl_gazebo @@ -1 +1 @@ -Subproject commit f6a067a4bc75e1dd8b871cd78197f38dea28ea3b +Subproject commit a8f57664c7bf6f4d8ab7a0c01d65181455151ca0 diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris index b65b03d6e7..1c080211f4 100644 --- a/posix-configs/SITL/init/ekf2/iris +++ b/posix-configs/SITL/init/ekf2/iris @@ -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 diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index f8c30f71d3..6045a816e9 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -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;