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SITL: VectorNav: Add support for sensors outside VN-100 and VN-300 

Includes naming changes to match new broadened usage
This commit is contained in:
BLash 2024-07-03 13:07:11 +10:00 committed by Peter Barker
parent 271f08fc03
commit 0e4124060c
1 changed files with 4 additions and 4 deletions
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8
libraries/SITL/SIM_VectorNav.cpp
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@ -29,7 +29,7 @@ VectorNav::VectorNav() :
{
}
struct PACKED VN_packet1 {
struct PACKED VN_INS_packet1 {
float uncompMag[3];
float uncompAccel[3];
float uncompAngRate[3];
@ -46,7 +46,7 @@ struct PACKED VN_packet1 {
float velU;
};
struct PACKED VN_packet2 {
struct PACKED VN_INS_packet2 {
uint64_t timeGPS;
float temp;
uint8_t numGPS1Sats;
@ -84,7 +84,7 @@ void VectorNav::send_packet1(void)
{
const auto &fdm = _sitl->state;
struct VN_packet1 pkt {};
struct VN_INS_packet1 pkt {};
pkt.uncompAccel[0] = fdm.xAccel;
pkt.uncompAccel[1] = fdm.yAccel;
@ -146,7 +146,7 @@ void VectorNav::send_packet2(void)
{
const auto &fdm = _sitl->state;
struct VN_packet2 pkt {};
struct VN_INS_packet2 pkt {};
struct timeval tv;
simulation_timeval(&tv);