update to gazebo harmonic message

PX4 · Nov 22, 2024 · 29f1151 · 29f1151
1 parent 73d5b13
commit 29f1151
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -448,24 +448,24 @@ void GZBridge::barometerCallback(const gz::msgs::FluidPressure &air_pressure)
 }
 
 
-void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed_sensor)
+void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
 	}
 
 	pthread_mutex_lock(&_node_mutex);
 
-	const uint64_t time_us = (air_speed_sensor.header().stamp().sec() * 1000000)
-				 + (air_speed_sensor.header().stamp().nsec() / 1000);
+	const uint64_t time_us = (air_speed.header().stamp().sec() * 1000000)
+				 + (air_speed.header().stamp().nsec() / 1000);
 
-	double air_speed_value = air_speed_sensor.diff_pressure();
+	double air_speed_value = air_speed.diff_pressure();
 
 	differential_pressure_s report{};
 	report.timestamp_sample = time_us;
 	report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
 	report.differential_pressure_pa = static_cast<float>(air_speed_value); // hPa to Pa;
-	report.temperature = static_cast<float>(air_speed_sensor.temperature()) + atmosphere::kAbsoluteNullCelsius; // K to C
+	report.temperature = static_cast<float>(air_speed.temperature()) + atmosphere::kAbsoluteNullCelsius; // K to C
 	report.timestamp = hrt_absolute_time();;
 	_differential_pressure_pub.publish(report);
 

diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp
@@ -68,7 +68,7 @@
 
 #include <gz/msgs/imu.pb.h>
 #include <gz/msgs/fluid_pressure.pb.h>
-#include <gz/msgs/air_speed_sensor.pb.h>
+#include <gz/msgs/air_speed.pb.h>
 #include <gz/msgs/model.pb.h>
 #include <gz/msgs/odometry_with_covariance.pb.h>
 #include <gz/msgs/laserscan.pb.h>
@@ -107,7 +107,7 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
 
 	void clockCallback(const gz::msgs::Clock &clock);
 
-	void airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed_sensor);
+	void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
 	void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
 	void imuCallback(const gz::msgs::IMU &imu);
 	void poseInfoCallback(const gz::msgs::Pose_V &pose);