From 4c3da85b974b4042f547be84c319afc1b6e4ab0d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 14 Aug 2022 15:22:24 -0400 Subject: [PATCH] ign sim fix alt ground truth and baro --- src/modules/ignition_simulator/IgnitionSimulator.cpp | 2 +- src/modules/simulator/sensor_baro_sim/SensorBaroSim.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ignition_simulator/IgnitionSimulator.cpp b/src/modules/ignition_simulator/IgnitionSimulator.cpp index 987fc21e35..caa22936b3 100644 --- a/src/modules/ignition_simulator/IgnitionSimulator.cpp +++ b/src/modules/ignition_simulator/IgnitionSimulator.cpp @@ -157,7 +157,7 @@ void IgnitionSimulator::PoseInfoCallback(const ignition::msgs::Pose_V &pose) _pos_ref.reproject(local_position_groundtruth.x, local_position_groundtruth.y, global_position_groundtruth.lat, global_position_groundtruth.lon); - global_position_groundtruth.alt = _param_sim_home_alt.get() - static_cast(pose_position.z()); + global_position_groundtruth.alt = _param_sim_home_alt.get() - static_cast(position(2)); global_position_groundtruth.timestamp = hrt_absolute_time(); _gpos_ground_truth_pub.publish(global_position_groundtruth); } diff --git a/src/modules/simulator/sensor_baro_sim/SensorBaroSim.cpp b/src/modules/simulator/sensor_baro_sim/SensorBaroSim.cpp index cbc43fb007..fc70998e9a 100644 --- a/src/modules/simulator/sensor_baro_sim/SensorBaroSim.cpp +++ b/src/modules/simulator/sensor_baro_sim/SensorBaroSim.cpp @@ -156,7 +156,7 @@ void SensorBaroSim::Run() const float absolute_pressure_noisy = absolute_pressure + abs_pressure_noise + _baro_drift_pa; // convert to hPa - float pressure = absolute_pressure_noisy * 0.01f + _sim_baro_off_p.get(); + float pressure = absolute_pressure_noisy + _sim_baro_off_p.get(); // calculate temperature in Celsius float temperature = temperature_local - 273.0f + _sim_baro_off_t.get();