Recent implementation for HIL_STATE_QUATERNION is causing quite a few issues about jmavsim HOT 7 CLOSED

#44 should at least solve your first issue. Can you test it?

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Looks like @lovettchris already tried this change #41. BTW, the reason GPS is 0,0 because lat and lon fields of HIL_STATE_QATERNION are not set. Also alt is set wrongly to z instead of projected value of z.

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@kd0aij, @bkueng I think I now understand the purpose of HIL_STATE_QUATERNION . So basically, HIL can be used in two modes: (1) "state-level" mode (2) "sensor-level" mode. In Mode 1, pose estimation is disabled. This mode is useful for high throughput simulation where you don't care about errors from sensors. Mode 2 is normal simulation mode where pose estimation is enabled. Mode 2 should be the default and should be used majority of the times. So basically jMavSim should provide a command line switch to select one of these two modes instead of always sending HIL_STATE_QUATERNION all the time as it is doing now and thus always enforcing Mode 1.

Reference: https://pixhawk.org/dev/hil/start

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The reference is outdated and I don't think we support state-level HIL anymore. As I wrote in #41 (comment), HIL_STATE_QUATERNION is only used for logging.

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@bkueng do we still need this for logging? #82 would not be needed then.

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Yes it is, as it provides the ground-truth.

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Ah ok.

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