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SITL: switch vicon simulation to use VISION_POSITION_ESTIMATE

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this is a more commonly used message
This commit is contained in:
Andrew Tridgell 2019-07-15 16:34:02 +10:00
parent e474b7dcfe
commit 9672dce335
1 changed files with 20 additions and 0 deletions
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20
libraries/SITL/SIM_Vicon.cpp
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@ -26,6 +26,9 @@
using namespace SITL;
#define USE_VISION_POSITION_ESTIMATE 1
Vicon::Vicon()
{
int tmp[2];
@ -104,6 +107,22 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
float yaw;
attitude.to_euler(roll, pitch, yaw);
#if USE_VISION_POSITION_ESTIMATE
// use the more recent VISION_POSITION_ESTIMATE message
mavlink_msg_vision_position_estimate_pack_chan(
system_id,
component_id,
mavlink_ch,
&obs_msg,
now_us + time_offset_us,
position.x,
position.y,
position.z,
roll,
pitch,
yaw,
NULL, 0);
#else
mavlink_msg_vicon_position_estimate_pack_chan(
system_id,
component_id,
@ -117,6 +136,7 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
pitch,
yaw,
NULL);
#endif // USE_VISION_POSITION_ESTIMATE
uint32_t delay_ms = 25 + unsigned(random()) % 300;
time_send_us = now_us + delay_ms * 1000UL;