From aff131774edc66c92260f4814a4a7ae33f4f004b Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Tue, 4 Jun 2019 21:35:52 +0200 Subject: [PATCH] simulator mavlink: add horizontal and vertical fov + quaterion orientation to distance sensor --- src/modules/simulator/simulator_mavlink.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 18738b9cbc..a829512d00 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -1090,6 +1090,13 @@ int Simulator::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavl dist.variance = dist_mavlink->covariance * 1e-4f; // cm^2 to m^2 dist.signal_quality = -1; + dist.h_fov = dist_mavlink->horizontal_fov; + dist.v_fov = dist_mavlink->vertical_fov; + dist.q[0] = dist_mavlink->quaternion[0]; + dist.q[1] = dist_mavlink->quaternion[1]; + dist.q[2] = dist_mavlink->quaternion[2]; + dist.q[3] = dist_mavlink->quaternion[3]; + int dist_multi; orb_publish_auto(ORB_ID(distance_sensor), &_dist_pub, &dist, &dist_multi, ORB_PRIO_HIGH);