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mavlink_receiver : Switch VISION_POSITION_ESTIMATE to new topics

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This commit is contained in:
Kabir Mohammed
2016-12-14 12:47:15 +05:30
committed by Lorenz Meier
parent 569251dc2e
commit b643c94f0a
1 changed files with 11 additions and 22 deletions
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33
src/modules/mavlink/mavlink_receiver.cpp
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@@ -1152,40 +1152,29 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
struct vision_position_estimate_s vision_position = {};
struct vehicle_local_position_s vision_position = {};
// Use the component ID to identify the vision sensor
vision_position.id = msg->compid;
// Use the estimator type to identify the simple vision estimate
vision_position.estimator_type = MAV_ESTIMATOR_TYPE_VISION;
vision_position.timestamp = sync_stamp(pos.usec);
vision_position.timestamp_received = hrt_absolute_time();
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;
// XXX fix this
vision_position.vx = 0.0f;
vision_position.vy = 0.0f;
vision_position.vz = 0.0f;
struct vehicle_attitude_s vision_attitude = {};
math::Quaternion q;
q.from_euler(pos.roll, pos.pitch, pos.yaw);
vision_position.q[0] = q(0);
vision_position.q[1] = q(1);
vision_position.q[2] = q(2);
vision_position.q[3] = q(3);
vision_attitude.q[0] = q(0);
vision_attitude.q[1] = q(1);
vision_attitude.q[2] = q(2);
vision_attitude.q[3] = q(3);
// TODO fix this
vision_position.pos_err = 0.0f;
vision_position.ang_err = 0.0f;
if (_vision_position_pub == nullptr) {
_vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position);
} else {
orb_publish(ORB_ID(vision_position_estimate), _vision_position_pub, &vision_position);
}
int instance_id = 0;
orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &instance_id, ORB_PRIO_DEFAULT);
orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &instance_id, ORB_PRIO_DEFAULT);
}
void