fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 02:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

update mavlink and sitl_gazebo to latest with odometry velocity covariance

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulator/simulator_mavlink.cpp
+4 -3
View File
@@ -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) {