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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/simulator/simulator_mavlink.cpp
-4
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@@ -421,10 +421,6 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
hil_gpos.lon = hil_state.lon / 1E7;//1E7
hil_gpos.alt = hil_state.alt / 1E3;//1E3
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
_gpos_ground_truth_pub.publish(hil_gpos);
}