mirror of
https://github.com/CopterExpress/clover_vm.git
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41 lines
1.6 KiB
Diff
41 lines
1.6 KiB
Diff
diff --git a/include/gazebo_opticalflow_plugin.h b/include/gazebo_opticalflow_plugin.h
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index 4fbeab2..18a192b 100644
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--- a/include/gazebo_opticalflow_plugin.h
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+++ b/include/gazebo_opticalflow_plugin.h
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@@ -40,7 +40,7 @@
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#include "flow_px4.hpp"
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#define DEFAULT_RATE 20
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-#define HAS_GYRO TRUE
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+#define HAS_GYRO true
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using namespace cv;
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using namespace std;
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diff --git a/src/gazebo_geotagged_images_plugin.cpp b/src/gazebo_geotagged_images_plugin.cpp
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index 050558f..7029199 100644
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--- a/src/gazebo_geotagged_images_plugin.cpp
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+++ b/src/gazebo_geotagged_images_plugin.cpp
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@@ -581,7 +581,8 @@ void GeotaggedImagesPlugin::_send_capture_status(struct sockaddr* srcaddr)
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0, // video status (Idle)
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interval, // image interval
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0, // recording_time_s
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- available_mib); // available_capacity
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+ available_mib, // available_capacity
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+ _imageCounter);
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_send_mavlink_message(&msg, srcaddr);
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}
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diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
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index 5d29017..d4dd6a7 100644
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--- a/src/gazebo_mavlink_interface.cpp
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+++ b/src/gazebo_mavlink_interface.cpp
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@@ -1039,7 +1039,7 @@ void GazeboMavlinkInterface::VisionCallback(OdomPtr& odom_message) {
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odom.time_usec = odom_message->time_usec();
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- odom.frame_id = MAV_FRAME_VISION_NED;
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+ odom.frame_id = 16 /*MAV_FRAME_VISION_NED*/;
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odom.child_frame_id = MAV_FRAME_BODY_FRD;
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odom.x = position.X();
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