From 7af0015b69eaa65c6ddf33da95184269a11b54f0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 21 Feb 2024 08:55:51 +0900
Subject: [PATCH] SITL: vicon send odometry with quality of 50

---
 libraries/SITL/SIM_Vicon.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_Vicon.cpp b/libraries/SITL/SIM_Vicon.cpp
index b54374baf8..c2c4d29da3 100644
--- a/libraries/SITL/SIM_Vicon.cpp
+++ b/libraries/SITL/SIM_Vicon.cpp
@@ -233,7 +233,8 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
             MAV_FRAME_LOCAL_FRD,
             MAV_FRAME_BODY_FRD,
             0,
-            MAV_ESTIMATOR_TYPE_VIO
+            MAV_ESTIMATOR_TYPE_VIO,
+            50 // quality hardcoded to 50%
         };
         mavlink_msg_odometry_encode_status(
             system_id,