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update mavlink and sitl_gazebo to latest with odometry velocity covariance

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This commit is contained in:
Daniel Agar
2019-02-10 16:32:59 -05:00
committed by GitHub
parent fafadd4686
commit 7c3999e00e
6 changed files with 29 additions and 18 deletions
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src/modules/simulator/simulator_mavlink.cpp
+4 -3
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@@ -1126,13 +1126,14 @@ int Simulator::publish_odometry_topic(mavlink_message_t *odom_mavlink)
odom.pitchspeed = odom_msg.pitchspeed;
odom.yawspeed = odom_msg.yawspeed;
const size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]);
static_assert(VEL_URT_SIZE == (sizeof(odom_msg.twist_covariance) / sizeof(odom_msg.twist_covariance[0])),
// velocity_covariance
static constexpr size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]);
static_assert(VEL_URT_SIZE == (sizeof(odom_msg.velocity_covariance) / sizeof(odom_msg.velocity_covariance[0])),
"Odometry Velocity Covariance matrix URT array size mismatch");
/* The velocity covariance URT */
for (size_t i = 0; i < VEL_URT_SIZE; i++) {
odom.velocity_covariance[i] = odom_msg.twist_covariance[i];
odom.velocity_covariance[i] = odom_msg.velocity_covariance[i];
}
} else if (odom_mavlink->msgid == MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE) {