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christianrauch / ros-multiwii

ROS Node for MultiWii and Cleanflight flight controllers
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Added publisher for sonar altitude data #4

Closed emmhaych closed 6 years ago

emmhaych commented 6 years ago

Data on topic /multiwii/global_position/sonar_alt and tf multiwii tested with cleanflight v2.2.0.

Ideally, the user should not use sonar altitude (MSP_SONAR_ALTITUDE) and barometer based altitude (MSP_ALTITUDE) at the same time, else, the tf multiwii would go crazy since sonar altitude is relative to the ground in centimetres whereas barometric altitude is sea level in meters. However, projects might want to use both types of altitudes simultaneously.

That being said, I have named the published topic global_position/sonar_alt.

christianrauch commented 6 years ago

Can you publish global_position/sonar_alt similar to global_position/rel_alt in Float64 meters (related to https://github.com/christianrauch/msp/pull/14)?

emmhaych commented 6 years ago

Updated as request. Rebased as well to clean up commit history.