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simulator mavlink: add horizontal and vertical fov + quaterion orientation 

to distance sensor
This commit is contained in:
Martina Rivizzigno 2019-06-04 21:35:52 +02:00 committed by Beat Küng
parent 02c3765c1b
commit aff131774e
1 changed files with 7 additions and 0 deletions
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7
src/modules/simulator/simulator_mavlink.cpp
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@ -1090,6 +1090,13 @@ int Simulator::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavl
dist.variance = dist_mavlink->covariance * 1e-4f; // cm^2 to m^2
dist.signal_quality = -1;
dist.h_fov = dist_mavlink->horizontal_fov;
dist.v_fov = dist_mavlink->vertical_fov;
dist.q[0] = dist_mavlink->quaternion[0];
dist.q[1] = dist_mavlink->quaternion[1];
dist.q[2] = dist_mavlink->quaternion[2];
dist.q[3] = dist_mavlink->quaternion[3];
int dist_multi;
orb_publish_auto(ORB_ID(distance_sensor), &_dist_pub, &dist, &dist_multi, ORB_PRIO_HIGH);