Ci

.github/workflows/firmware_build_test.yml

@@ -8,6 +8,10 @@ on:
     branches:
       - '*'
 
+permissions:
+  contents: read
+  packages: write
+
 jobs:
   Firmware-build:
     runs-on: ubuntu-latest

.github/workflows/main.yaml

@@ -0,0 +1,42 @@
+name: Build
+
+on:
+  push:
+
+permissions:
+  contents: read
+  packages: write
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: docker/setup-buildx-action@v2
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v4
+        with:
+          images: ghcr.io/tiiuae/px4-gzsim-plugins
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=raw,value=latest
+            type=sha
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build container image and push
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

src/gazebo_mavlink_interface.cpp

@@ -364,9 +364,9 @@ void GazeboMavlinkInterface::BarometerCallback(const gz::msgs::FluidPressure &_m
 void GazeboMavlinkInterface::MagnetometerCallback(const gz::msgs::Magnetometer &_msg) {
   SensorData::Magnetometer mag_data;
   mag_data.mag_b = Eigen::Vector3d(
-    AddSimpleNoise(_msg.field_tesla().x(), 0.0001, 0.009),
-    AddSimpleNoise(_msg.field_tesla().y(), 0.0001, 0.007),
-    AddSimpleNoise(_msg.field_tesla().z(), 0.0001, 0.004)
+    AddSimpleNoise(_msg.field_tesla().x(), 0, 0.0001),
+    AddSimpleNoise(_msg.field_tesla().y(), 0, 0.0001),
+    AddSimpleNoise(_msg.field_tesla().z(), 0, 0.0001)
   );
   mavlink_interface_->UpdateMag(mag_data);
 }