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Publishes LPE GPS epv and eph as estimator status. (#5413)

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* Publishes LPE GPS epv and eph as estimator status.

* Adds timestamp
This commit is contained in:
Miguel Arroyo
2016-09-03 22:00:51 +02:00
committed by Lorenz Meier
parent a071ef94db
commit f999fbe440
3 changed files with 12 additions and 3 deletions
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src/modules/mavlink/mavlink_messages.cpp
+7 -3
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@@ -1702,9 +1702,13 @@ protected:
if (_est_sub->update(&_est_time, &est)) {
// To be added and filled
// mavlink_estimator_status_t msg = {};
//mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
mavlink_estimator_status_t est_msg = {};
est_msg.time_usec = est.timestamp;
est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy;
est_msg.pos_vert_accuracy = est.pos_vert_accuracy;
mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg);
mavlink_vibration_t msg = {};