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Remove gps noise multiplier parameter (#15108)

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This removes the gps noise multiplier parameter that can be set on the firmware side
This commit is contained in:
JaeyoungLim
2020-06-15 22:32:32 +02:00
committed by GitHub
parent 6c78c62d9d
commit 39b803a9dc
3 changed files with 0 additions and 20 deletions
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7
src/modules/simulator/simulator_mavlink.cpp
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@@ -309,13 +309,6 @@ void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
gps.satellites_used = hil_gps.satellites_visible;
gps.s_variance_m_s = 0.25f;
// use normal distribution for noise
if (_param_sim_gps_noise_x.get() > 0.0f) {
std::normal_distribution<float> normal_distribution(0.0f, 1.0f);
gps.lat += (int32_t)(_param_sim_gps_noise_x.get() * normal_distribution(_gen));
gps.lon += (int32_t)(_param_sim_gps_noise_x.get() * normal_distribution(_gen));
}
_vehicle_gps_position_pub.publish(gps);
}
}