GPS_STATUS Plugin: Fill in available messages for ROS1 legacy

Filled in available fields in GPS_RAW_INT & GPS2_RAW messages p.s. seems GPS2_RAW more complete than original GPS_RAW_INT
mavlink · Oct 12, 2023 · cf9a1cf · cf9a1cf
1 parent 78b527b
commit cf9a1cf
Showing 1 changed file with 7 additions and 5 deletions.
diff --git a/mavros_extras/src/plugins/gps_status.cpp b/mavros_extras/src/plugins/gps_status.cpp
@@ -84,6 +84,7 @@ class GpsStatusPlugin : public plugin::PluginBase {
 		ros_msg->hdg_acc           = mav_msg.hdg_acc;
 		ros_msg->dgps_numch        = UINT8_MAX;	// information not available in GPS_RAW_INT mavlink message
 		ros_msg->dgps_age          = UINT32_MAX;// information not available in GPS_RAW_INT mavlink message
+		ros_msg->yaw               = mav_msg.yaw;
 
 		gps1_raw_pub.publish(ros_msg);
 	}
@@ -103,13 +104,14 @@ class GpsStatusPlugin : public plugin::PluginBase {
 		ros_msg->vel               = mav_msg.vel;
 		ros_msg->cog               = mav_msg.cog;
 		ros_msg->satellites_visible = mav_msg.satellites_visible;
-		ros_msg->alt_ellipsoid     = INT32_MAX;	// information not available in GPS2_RAW mavlink message
-		ros_msg->h_acc             = UINT32_MAX;// information not available in GPS2_RAW mavlink message
-		ros_msg->v_acc             = UINT32_MAX;// information not available in GPS2_RAW mavlink message
-		ros_msg->vel_acc           = UINT32_MAX;// information not available in GPS2_RAW mavlink message
-		ros_msg->hdg_acc           = UINT32_MAX;// information not available in GPS2_RAW mavlink message
+		ros_msg->alt_ellipsoid     = mav_msg.alt_ellipsoid;
+		ros_msg->h_acc             = mav_msg.h_acc;
+		ros_msg->v_acc             = mav_msg.v_acc;
+		ros_msg->vel_acc           = mav_msg.vel_acc;
+		ros_msg->hdg_acc           = mav_msg.hdg_acc
 		ros_msg->dgps_numch        = mav_msg.dgps_numch;
 		ros_msg->dgps_age          = mav_msg.dgps_age;
+		ros_msg->yaw               = mav_msg.yaw;
 
 		gps2_raw_pub.publish(ros_msg);
 	}