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Collision Prevention: support multiple sensors and frames (#12883)

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* build internal sensor map

* Extend testing coverage

* Update matrix library
This commit is contained in:
Tanja Baumann
2019-09-06 08:38:56 +02:00
committed by Julian Kent
parent eb81f4bce2
commit f3c5ca6015
7 changed files with 795 additions and 163 deletions
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src/modules/mavlink/mavlink_receiver.cpp
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@@ -1685,6 +1685,7 @@ MavlinkReceiver::handle_message_obstacle_distance(mavlink_message_t *msg)
obstacle_distance.min_distance = mavlink_obstacle_distance.min_distance;
obstacle_distance.max_distance = mavlink_obstacle_distance.max_distance;
obstacle_distance.angle_offset = mavlink_obstacle_distance.angle_offset;
obstacle_distance.frame = mavlink_obstacle_distance.frame;
_obstacle_distance_pub.publish(obstacle_distance);
}