SIM_Vicon: label fields going into ODOMETRY packets

ArduPilot · Mar 7, 2024 · 08bb2bd · 08bb2bd
1 parent 1a443f7
commit 08bb2bd
Showing 1 changed file with 18 additions and 18 deletions.
diff --git a/libraries/SITL/SIM_Vicon.cpp b/libraries/SITL/SIM_Vicon.cpp
@@ -217,24 +217,24 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
     if (should_send(ViconTypeMask::ODOMETRY) && get_free_msg_buf_index(msg_buf_index)) {
         const Vector3f vel_corrected_frd = attitude.inverse() * vel_corrected;
         const mavlink_odometry_t odometry{
-            now_us + time_offset_us,
-            float(pos_corrected.x),
-            float(pos_corrected.y),
-            float(pos_corrected.z),
-            {attitude[0], attitude[1], attitude[2], attitude[3]},
-            vel_corrected_frd.x,
-            vel_corrected_frd.y,
-            vel_corrected_frd.z,
-            gyro.x,
-            gyro.y,
-            gyro.z,
-            {},
-            {},
-            MAV_FRAME_LOCAL_FRD,
-            MAV_FRAME_BODY_FRD,
-            0,
-            MAV_ESTIMATOR_TYPE_VIO,
-            50 // quality hardcoded to 50%
+        time_usec: now_us + time_offset_us,
+        x: float(pos_corrected.x),
+        y: float(pos_corrected.y),
+        z: float(pos_corrected.z),
+        q: {attitude[0], attitude[1], attitude[2], attitude[3]},
+        vx: vel_corrected_frd.x,
+        vy: vel_corrected_frd.y,
+        vz: vel_corrected_frd.z,
+        rollspeed: gyro.x,
+        pitchspeed: gyro.y,
+        yawspeed: gyro.z,
+        pose_covariance: {},
+        velocity_covariance: {},
+        frame_id: MAV_FRAME_LOCAL_FRD,
+        child_frame_id: MAV_FRAME_BODY_FRD,
+        reset_counter: 0,
+        estimator_type: MAV_ESTIMATOR_TYPE_VIO,
+        quality: 50, // quality hardcoded to 50%
         };
         mavlink_msg_odometry_encode_status(
             system_id,