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mavlink: DISTANCE_SENSOR: propagate signal_quality metric

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This commit is contained in:
TSC21
2020-06-20 17:03:34 +01:00
committed by Nuno Marques
parent d34b5f86cc
commit b3bbc351ca
3 changed files with 11 additions and 3 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+5 -1
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@@ -716,11 +716,15 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
ds.q[1] = dist_sensor.quaternion[1];
ds.q[2] = dist_sensor.quaternion[2];
ds.q[3] = dist_sensor.quaternion[3];
ds.signal_quality = -1; // TODO: A dist_sensor.signal_quality field is missing from the mavlink message definition.
ds.type = dist_sensor.type;
ds.id = dist_sensor.id;
ds.orientation = dist_sensor.orientation;
// MAVLink DISTANCE_SENSOR signal_quality value of 0 means unset/unknown
// quality value. Also it comes normalised between 1 and 100 while the uORB
// signal quality is normalised between 0 and 100.
ds.signal_quality = dist_sensor.signal_quality == 0 ? -1 : 100 * (dist_sensor.signal_quality - 1) / 99;
_distance_sensor_pub.publish(ds);
}