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vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)

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* attitude_estimator_q: get velocity from local position (if available)
This commit is contained in:
Daniel Agar
2020-03-11 23:57:43 -04:00
committed by GitHub
parent 5d33b9e999
commit a89b69b0ea
19 changed files with 98 additions and 79 deletions
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src/modules/mavlink/mavlink_receiver.cpp
-3
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@@ -2492,9 +2492,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_global_pos.lat = hil_state.lat / ((double)1e7);
hil_global_pos.lon = hil_state.lon / ((double)1e7);
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vel_n = hil_state.vx / 100.0f;
hil_global_pos.vel_e = hil_state.vy / 100.0f;
hil_global_pos.vel_d = hil_state.vz / 100.0f;
hil_global_pos.eph = 2.0f;
hil_global_pos.epv = 4.0f;