dummy

src/gazebo_mavlink_interface.cpp

@@ -273,8 +273,8 @@ void GazeboMavlinkInterface::PoseCallback(const gz::msgs::Pose_V &_msg){
       hil_state_quat.attitude_quaternion[2] = q_nb.Y();
       hil_state_quat.attitude_quaternion[3] = q_nb.Z();
 
-      hil_state_quat.lat = pose_position.y() * 1e3;
-      hil_state_quat.lon = pose_position.x() * 1e3;
+      hil_state_quat.lat = pose_position.x() * 1e3;
+      hil_state_quat.lon = pose_position.y() * 1e3;
       hil_state_quat.alt = pose_position.z() * 1e3;
 
       mavlink_message_t msg;
@@ -380,25 +380,6 @@ void GazeboMavlinkInterface::SendSensorMessages(const gz::sim::UpdateInfo &_info
   const gz::msgs::IMU last_imu_message = last_imu_message_;
   last_imu_message_mutex_.unlock();
 
-  gz::math::Quaterniond q_gr = gz::math::Quaterniond(
-    last_imu_message.orientation().w(),
-    last_imu_message.orientation().x(),
-    last_imu_message.orientation().y(),
-    last_imu_message.orientation().z());
-
-/*
-  bool should_send_imu = false;
-  if (!enable_lockstep_) {
-    std::chrono::steady_clock::duration current_time = _info.simTime;
-
-    double dt = (current_time - last_imu_time_).count();
-
-    if (imu_update_interval_!=0 && dt >= imu_update_interval_) {
-      should_send_imu = true;
-      last_imu_time_ = current_time;
-    }
-  }
-*/
 
   // send always accel and gyro data (not dependent of the bitmask)
   // required so to keep the timestamps on sync and the lockstep can