mavlink: stream rename GROUND_TRUTH -> HIL_STATE_QUATERNION

src/modules/mavlink/mavlink_main.cpp

@@ -722,10 +722,10 @@ Mavlink::set_hil_enabled(bool hil_enabled)
 		ret = configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
 
 		if (_param_sys_hitl.get() == 2) {		// Simulation in Hardware enabled ?
-			configure_stream("GROUND_TRUTH", 25.0f); 	// HIL_STATE_QUATERNION to display the SIH
+			configure_stream("HIL_STATE_QUATERNION", 25.0f); // ground truth to display the SIH
 
 		} else {
-			configure_stream("GROUND_TRUTH", 0.0f);
+			configure_stream("HIL_STATE_QUATERNION", 0.0f);
 		}
 	}
 
@@ -734,7 +734,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
 		_hil_enabled = false;
 		ret = configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
 
-		configure_stream("GROUND_TRUTH", 0.0f);
+		configure_stream("HIL_STATE_QUATERNION", 0.0f);
 	}
 
 	return ret;

src/modules/mavlink/mavlink_messages.cpp

@@ -118,8 +118,8 @@ using matrix::wrap_2pi;
 #include "streams/ESC_STATUS.hpp"
 #include "streams/EXTENDED_SYS_STATE.hpp"
 #include "streams/FLIGHT_INFORMATION.hpp"
-#include "streams/GROUND_TRUTH.hpp"
 #include "streams/HIGH_LATENCY2.hpp"
+#include "streams/HIL_STATE_QUATERNION.hpp"
 #include "streams/OBSTACLE_DISTANCE.hpp"
 #include "streams/ORBIT_EXECUTION_STATUS.hpp"
 #include "streams/PING.hpp"
@@ -4994,9 +4994,9 @@ static const StreamListItem streams_list[] = {
 #if defined(HIGH_LATENCY2_HPP)
 	create_stream_list_item<MavlinkStreamHighLatency2>(),
 #endif // HIGH_LATENCY2_HPP
-#if defined(GROUND_TRUTH_HPP)
-	create_stream_list_item<MavlinkStreamGroundTruth>(),
-#endif // GROUND_TRUTH_HPP
+#if defined(HIL_STATE_QUATERNION_HPP)
+	create_stream_list_item<MavlinkStreamHILStateQuaternion>(),
+#endif // HIL_STATE_QUATERNION_HPP
 #if defined(PING_HPP)
 	create_stream_list_item<MavlinkStreamPing>(),
 #endif // PING_HPP

src/modules/mavlink/streams/HIL_STATE_QUATERNION.hpp

@@ -31,15 +31,15 @@
  *
  ****************************************************************************/
 
-#ifndef GROUND_TRUTH_HPP
-#define GROUND_TRUTH_HPP
+#ifndef HIL_STATE_QUATERNION_HPP
+#define HIL_STATE_QUATERNION_HPP
 
-class MavlinkStreamGroundTruth : public MavlinkStream
+class MavlinkStreamHILStateQuaternion : public MavlinkStream
 {
 public:
-	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGroundTruth(mavlink); }
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHILStateQuaternion(mavlink); }
 
-	static constexpr const char *get_name_static() { return "GROUND_TRUTH"; }
+	static constexpr const char *get_name_static() { return "HIL_STATE_QUATERNION"; }
 	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_STATE_QUATERNION; }
 
 	const char *get_name() const override { return get_name_static(); }
@@ -55,7 +55,7 @@ public:
 	}
 
 private:
-	explicit MavlinkStreamGroundTruth(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+	explicit MavlinkStreamHILStateQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
 
 	uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)};
 	uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)};
@@ -111,4 +111,4 @@ private:
 	}
 };
 
-#endif // GROUND_TRUTH_HPP
+#endif // HIL_STATE_QUATERNION_HPP