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Update sitl_gazebo.patch

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This commit is contained in:
Oleg Kalachev
2021-04-16 17:38:50 +03:00
parent 411c974242
commit aa4768ee5c
1 changed files with 59 additions and 0 deletions
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59
assets/patches/sitl_gazebo.patch
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@@ -13,3 +13,62 @@ index ae0fb34..12f17b8 100644
<run_depend>eigen</run_depend>
<run_depend>gazebo_ros</run_depend>
<run_depend>geometry_msgs</run_depend>
diff --git a/include/gazebo_opticalflow_plugin.h b/include/gazebo_opticalflow_plugin.h
index 4fbeab2..18a192b 100644
--- a/include/gazebo_opticalflow_plugin.h
+++ b/include/gazebo_opticalflow_plugin.h
@@ -40,7 +40,7 @@
#include "flow_px4.hpp"
#define DEFAULT_RATE 20
-#define HAS_GYRO TRUE
+#define HAS_GYRO true
using namespace cv;
using namespace std;
diff --git a/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
index 050558f..7029199 100644
--- a/src/gazebo_geotagged_images_plugin.cpp
+++ b/src/gazebo_geotagged_images_plugin.cpp
@@ -581,7 +581,8 @@ void GeotaggedImagesPlugin::_send_capture_status(struct sockaddr* srcaddr)
0, // video status (Idle)
interval, // image interval
0, // recording_time_s
- available_mib); // available_capacity
+ available_mib, // available_capacity
+ _imageCounter);
_send_mavlink_message(&msg, srcaddr);
}
@@ -591,6 +592,7 @@ void GeotaggedImagesPlugin::_handle_storage_info(const mavlink_message_t *pMsg,
float total_mib = 0.0f;
float available_mib = 0.0f;
boost::filesystem::space_info si = boost::filesystem::space(".");
+ const std::string storage_name = "SITL Camera Storage";
available_mib = (float)((double)si.available / (1024.0 * 1024.0));
total_mib = (float)((double)si.capacity / (1024.0 * 1024.0));
_send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_STORAGE_INFORMATION, MAV_RESULT_ACCEPTED, srcaddr);
@@ -608,7 +610,9 @@ void GeotaggedImagesPlugin::_handle_storage_info(const mavlink_message_t *pMsg,
total_mib - available_mib, // used_capacity,
available_mib,
NAN, // read_speed,
- NAN // write_speed
+ NAN, // write_speed
+ STORAGE_TYPE_OTHER, // storage type
+ storage_name.c_str() // storage name
);
_send_mavlink_message(&msg, srcaddr);
}
diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
index 5d29017..d4dd6a7 100644
--- a/src/gazebo_mavlink_interface.cpp
+++ b/src/gazebo_mavlink_interface.cpp
@@ -1039,7 +1039,7 @@ void GazeboMavlinkInterface::VisionCallback(OdomPtr& odom_message) {
odom.time_usec = odom_message->time_usec();
- odom.frame_id = MAV_FRAME_VISION_NED;
+ odom.frame_id = 16 /*MAV_FRAME_VISION_NED*/;
odom.child_frame_id = MAV_FRAME_BODY_FRD;
odom.x = position.X();