send signal_quality via mavlink

bluerobotics · Sep 21, 2023 · fa447d9 · fa447d9
1 parent 7bb1bb5
commit fa447d9
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/dvl-a50/dvl.py b/dvl-a50/dvl.py
@@ -363,7 +363,7 @@ def handle_velocity(self, data: Dict[str, Any]) -> None:
             return
 
         if self.rangefinder and alt > 0.05:
-            self.mav.send_rangefinder(alt)
+            self.mav.send_rangefinder(alt, confidence)
 
         if self.should_send == MessageType.POSITION_DELTA:
             dRoll, dPitch, dYaw = [

diff --git a/dvl-a50/mavlink2resthelper.py b/dvl-a50/mavlink2resthelper.py
@@ -170,7 +170,7 @@ def __init__(self, vehicle: int = 1, component: int = 1):
       0.0,
       0.0
     ],
-    "signal_quality": 0
+    "signal_quality": {1}
   }}
 }}
 """
@@ -352,12 +352,12 @@ def send_vision_position_estimate(
         )
         logger.info(post(MAVLINK2REST_URL + "/mavlink", data=data))
 
-    def send_rangefinder(self, distance: float):
+    def send_rangefinder(self, distance: float, quality: float):
         "Sends message DISTANCE_SENSOR to flight controller"
         if distance == -1:
-            return
-        data = self.rangefinder_template.format(int(distance * 100))
-
+            data = self.rangefinder_template.format(0, 0)
+        else:
+            data = self.rangefinder_template.format(int(distance * 100), int(quality))
         post(MAVLINK2REST_URL + "/mavlink", data=data)
 
     def set_gps_origin(self, lat, lon):