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SIM_Vicon: label fields going into _POSITION_ESTIMATE packets

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Peter Barker 2024-03-07 14:03:25 +11:00 committed by Andrew Tridgell
parent b30bdb7dd3
commit c12bb6720a
1 changed files with 14 additions and 14 deletions
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28
libraries/SITL/SIM_Vicon.cpp
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@ -166,13 +166,13 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
uint8_t msg_buf_index;
if (should_send(ViconTypeMask::VISION_POSITION_ESTIMATE) && get_free_msg_buf_index(msg_buf_index)) {
const mavlink_vision_position_estimate_t vision_position_estimate{
now_us + time_offset_us,
float(pos_corrected.x),
float(pos_corrected.y),
float(pos_corrected.z),
roll,
pitch,
yaw
usec: now_us + time_offset_us,
x: float(pos_corrected.x),
y: float(pos_corrected.y),
z: float(pos_corrected.z),
roll: roll,
pitch: pitch,
yaw: yaw
};
mavlink_msg_vision_position_estimate_encode_status(
system_id,
@ -187,13 +187,13 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
// send older vicon position estimate message
if (should_send(ViconTypeMask::VICON_POSITION_ESTIMATE) && get_free_msg_buf_index(msg_buf_index)) {
const mavlink_vicon_position_estimate_t vicon_position_estimate{
now_us + time_offset_us,
float(pos_corrected.x),
float(pos_corrected.y),
float(pos_corrected.z),
roll,
pitch,
yaw
usec: now_us + time_offset_us,
x: float(pos_corrected.x),
y: float(pos_corrected.y),
z: float(pos_corrected.z),
roll: roll,
pitch: pitch,
yaw: yaw
};
mavlink_msg_vicon_position_estimate_encode_status(
system_id,