Fixed issues with plotting magnetometer data.

Scaled points to more easily be seen. Fixed apparent typo in .rviz.
rosflight · Aug 30, 2024 · 7ed6f5d · 7ed6f5d
1 parent a2a4110
commit 7ed6f5d
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/rosflight_gcs/rviz/viz_mag.rviz b/rosflight_gcs/rviz/viz_mag.rviz
@@ -101,7 +101,7 @@ Visualization Manager:
       Value: true
     - Class: rviz_default_plugins/Marker
       Enabled: true
-      Marker Topic: /viz/cloud
+      Topic: /viz/cloud
       Name: Mag Measurements
       Namespaces:
         "": true

diff --git a/rosflight_gcs/src/viz.cpp b/rosflight_gcs/src/viz.cpp
@@ -42,7 +42,7 @@ Viz::Viz()
   // retrieve params
 
   // initialize variables
-  mag_skip_ = 20;
+  mag_skip_ = 1;
   mag_throttle_ = 0;
 
   // Magnetometer visualization
@@ -61,9 +61,11 @@ void Viz::magCallback(const sensor_msgs::msg::MagneticField::ConstSharedPtr & ms
 {
   if (mag_throttle_ > mag_skip_) {
     // unpack message
-    double x = msg->magnetic_field.x;
-    double y = msg->magnetic_field.y;
-    double z = msg->magnetic_field.z;
+
+    float SCALING_FACTOR = 100'000.; // To make the changes appear.
+    double x = msg->magnetic_field.x*SCALING_FACTOR;
+    double y = msg->magnetic_field.y*SCALING_FACTOR;
+    double z = msg->magnetic_field.z*SCALING_FACTOR;
 
     // get euler angles from vector (assume no roll)
     double yaw = atan2(y, x);
@@ -102,7 +104,7 @@ void Viz::magCallback(const sensor_msgs::msg::MagneticField::ConstSharedPtr & ms
     pts_msg.action = visualization_msgs::msg::Marker::ADD;
 
     // set points style
-    pts_msg.scale.x = 0.1;
+    pts_msg.scale.x = 0.05;
     pts_msg.scale.y = pts_msg.scale.x;
     pts_msg.scale.z = pts_msg.scale.x;
     pts_msg.color.a = 1.0;