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AP_DDS: send quality of zero to AP_VisualOdom

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Randy Mackay 2024-02-20 16:14:21 +09:00 committed by Andrew Tridgell
parent 442c90ff1b
commit 6c5425cd68
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_DDS/AP_DDS_External_Odom.cpp
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@ -40,7 +40,7 @@ void AP_DDS_External_Odom::handle_external_odom(const tf2_msgs_msg_TFMessage& ms
const uint8_t reset_counter {0}; const uint8_t reset_counter {0};
// TODO implement jitter correction similar to GCS_MAVLINK::correct_offboard_timestamp_usec_to_ms(remote_time_us, sizeof(msg)); // TODO implement jitter correction similar to GCS_MAVLINK::correct_offboard_timestamp_usec_to_ms(remote_time_us, sizeof(msg));
const uint32_t time_ms {static_cast<uint32_t>(remote_time_us * 1E-3)}; const uint32_t time_ms {static_cast<uint32_t>(remote_time_us * 1E-3)};
visual_odom->handle_pose_estimate(remote_time_us, time_ms, ap_position.x, ap_position.y, ap_position.z, ap_rotation, posErr, angErr, reset_counter); visual_odom->handle_pose_estimate(remote_time_us, time_ms, ap_position.x, ap_position.y, ap_position.z, ap_rotation, posErr, angErr, reset_counter, 0);
} }
} }