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SITL: name fields when assembling vision_position_delta message

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Peter Barker 2024-03-07 13:03:09 +11:00 committed by Andrew Tridgell
parent 8c9ed697fe
commit cfd76b8dd9
1 changed files with 8 additions and 7 deletions
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15
libraries/SITL/SIM_Vicon.cpp
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@ -277,13 +277,14 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
// confidence: Normalized confidence level [0, 100]
if (should_send(ViconTypeMask::VISION_POSITION_DELTA) && get_free_msg_buf_index(msg_buf_index)) {
const mavlink_vision_position_delta_t vision_position_delta{
now_us + time_offset_us,
time_delta,
{ attitude_curr_prev.get_euler_roll(),
attitude_curr_prev.get_euler_pitch(),
attitude_curr_prev.get_euler_yaw()
},
{pos_delta.x, pos_delta.y, pos_delta.z}
time_usec: now_us + time_offset_us,
time_delta_usec: time_delta,
angle_delta: { attitude_curr_prev.get_euler_roll(),
attitude_curr_prev.get_euler_pitch(),
attitude_curr_prev.get_euler_yaw()
},
position_delta: {pos_delta.x, pos_delta.y, pos_delta.z},
confidence: 0
};
mavlink_msg_vision_position_delta_encode_status(
system_id,