SITL: VectorNav: Add support for sensors outside VN-100 and VN-300

Includes naming changes to match new broadened usage
ArduPilot · Jul 3, 2024 · 14d689a · 14d689a
1 parent 92d5cd4
commit 14d689a
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/libraries/SITL/SIM_VectorNav.cpp b/libraries/SITL/SIM_VectorNav.cpp
@@ -29,7 +29,7 @@ VectorNav::VectorNav() :
 {
 }
 
-struct PACKED VN_packet1 {
+struct PACKED VN_INS_packet1 {
     float uncompMag[3];
     float uncompAccel[3];
     float uncompAngRate[3];
@@ -46,7 +46,7 @@ struct PACKED VN_packet1 {
     float velU;
 };
 
-struct PACKED VN_packet2 {
+struct PACKED VN_INS_packet2 {
     uint64_t timeGPS;
     float temp;
     uint8_t numGPS1Sats;
@@ -84,7 +84,7 @@ void VectorNav::send_packet1(void)
 {
     const auto &fdm = _sitl->state;
 
-    struct VN_packet1 pkt {};
+    struct VN_INS_packet1 pkt {};
 
     pkt.uncompAccel[0] = fdm.xAccel;
     pkt.uncompAccel[1] = fdm.yAccel;
@@ -146,7 +146,7 @@ void VectorNav::send_packet2(void)
 {
     const auto &fdm = _sitl->state;
 
-    struct VN_packet2 pkt {};
+    struct VN_INS_packet2 pkt {};
 
     struct timeval tv;
     simulation_timeval(&tv);