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SITL: Sim_Ship: label global_position_int and attitude packet fields

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Peter Barker 2024-03-07 14:08:20 +11:00 committed by Andrew Tridgell
parent 28488cbfd6
commit b30bdb7dd3
1 changed files with 16 additions and 12 deletions
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28
libraries/SITL/SIM_Ship.cpp
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@ -210,15 +210,15 @@ void ShipSim::send_report(void)
vel.rotate(radians(ship.heading_deg)); vel.rotate(radians(ship.heading_deg));
const mavlink_global_position_int_t global_position_int{ const mavlink_global_position_int_t global_position_int{
now, time_boot_ms: now,
loc.lat, lat: loc.lat,
loc.lng, lon: loc.lng,
alt_mm, alt: alt_mm,
0, relative_alt: 0,
int16_t(vel.x*100), vx: int16_t(vel.x*100),
int16_t(vel.y*100), vy: int16_t(vel.y*100),
0, vz: 0,
uint16_t(ship.heading_deg*100) hdg: uint16_t(ship.heading_deg*100)
}; };
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_global_position_int_encode_status( mavlink_msg_global_position_int_encode_status(
@ -236,9 +236,13 @@ void ShipSim::send_report(void)
{ // also set ATTITUDE so MissionPlanner can display ship orientation { // also set ATTITUDE so MissionPlanner can display ship orientation
const mavlink_attitude_t attitude{ const mavlink_attitude_t attitude{
now, time_boot_ms: now,
0, 0, float(radians(ship.heading_deg)), roll: 0,
0, 0, ship.yaw_rate pitch: 0,
yaw: float(radians(ship.heading_deg)),
rollspeed: 0,
pitchspeed: 0,
yawspeed: ship.yaw_rate
}; };
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_attitude_encode_status( mavlink_msg_attitude_encode_status(