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Add HITL support for fw, vtol and rover
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Original file line number | Diff line number | Diff line change |
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@@ -40,7 +40,6 @@ | |
* @author Thomas Gubler <[email protected]> | ||
*/ | ||
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#include <lib/airspeed/airspeed.h> | ||
#include <lib/conversion/rotation.h> | ||
#include <lib/systemlib/px4_macros.h> | ||
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@@ -2661,15 +2660,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) | |
const double dt = math::constrain((timestamp_sample - _hil_timestamp_prev) * 1e-6, 0.001, 0.1); | ||
_hil_timestamp_prev = timestamp_sample; | ||
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/* airspeed */ | ||
airspeed_s airspeed{}; | ||
airspeed.timestamp_sample = timestamp_sample; | ||
airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f; | ||
airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f; | ||
airspeed.air_temperature_celsius = 15.f; | ||
airspeed.timestamp = hrt_absolute_time(); | ||
_airspeed_pub.publish(airspeed); | ||
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/* Receive attitude quaternion from gz-sim and publish vehicle attitude | ||
* groundtruth and angular velocity ground truth | ||
*/ | ||
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