update

tiiuae · Nov 8, 2023 · b08fb57 · b08fb57
1 parent bab4430
commit b08fb57
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/include/gazebo_mavlink_interface.h b/include/gazebo_mavlink_interface.h
@@ -208,7 +208,7 @@ namespace mavlink_interface
       bool enable_lockstep_ = false;
       double speed_factor_ = 1.0;
       uint8_t previous_imu_seq_ = 0;
-      uint8_t update_skip_factor_ = 1;
+      uint8_t update_skip_factor_ = 3;
 
       std::string mavlink_hostname_str_;
       struct hostent *hostptr_{nullptr};

diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
@@ -237,7 +237,7 @@ void GazeboMavlinkInterface::PreUpdate(const gz::sim::UpdateInfo &_info,
   mavlink_interface_->ReadMAVLinkMessages();
 
   // Always send Gyro and Accel data at full rate (= sim update rate)
-  //SendSensorMessages(_info);
+  SendSensorMessages(_info);
 
   handle_actuator_controls(_info);
 
@@ -298,7 +298,6 @@ void GazeboMavlinkInterface::PoseCallback(const gz::msgs::Pose_V &_msg){
 void GazeboMavlinkInterface::ImuCallback(const gz::msgs::IMU &_msg) {
   const std::lock_guard<std::mutex> lock(last_imu_message_mutex_);
   last_imu_message_ = _msg;
-  std::cout << "ImuCallback with data " << last_imu_message_.linear_acceleration().z() << std::endl;
 }
 
 void GazeboMavlinkInterface::BarometerCallback(const gz::msgs::FluidPressure &_msg) {