From b7f01ab9c313f1dc2e37ec2db65e9cd6c4eb447c Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Thu, 21 Sep 2023 09:46:26 -0300
Subject: [PATCH] send signal_quality via mavlink

---
 dvl-a50/dvl.py                |  2 +-
 dvl-a50/mavlink2resthelper.py | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/dvl-a50/dvl.py b/dvl-a50/dvl.py
index e8e4cb8..6989b62 100644
--- a/dvl-a50/dvl.py
+++ b/dvl-a50/dvl.py
@@ -363,7 +363,7 @@ def handle_velocity(self, data: Dict[str, Any]) -> None:
             return
 
         if self.rangefinder and alt > 0.05:
-            self.mav.send_rangefinder(alt)
+            self.mav.send_rangefinder(alt, confidence)
 
         if self.should_send == MessageType.POSITION_DELTA:
             dRoll, dPitch, dYaw = [
diff --git a/dvl-a50/mavlink2resthelper.py b/dvl-a50/mavlink2resthelper.py
index 2859220..0d7da6a 100644
--- a/dvl-a50/mavlink2resthelper.py
+++ b/dvl-a50/mavlink2resthelper.py
@@ -170,7 +170,7 @@ def __init__(self, vehicle: int = 1, component: int = 1):
       0.0,
       0.0
     ],
-    "signal_quality": 0
+    "signal_quality": {1}
   }}
 }}
 """
@@ -352,12 +352,12 @@ def send_vision_position_estimate(
         )
         logger.info(post(MAVLINK2REST_URL + "/mavlink", data=data))
 
-    def send_rangefinder(self, distance: float):
+    def send_rangefinder(self, distance: float, quality: float):
         "Sends message DISTANCE_SENSOR to flight controller"
         if distance == -1:
-            return
-        data = self.rangefinder_template.format(int(distance * 100))
-
+            data = self.rangefinder_template.format(int(0), 0)
+        else:
+            data = self.rangefinder_template.format(int(distance * 100), int(quality))
         post(MAVLINK2REST_URL + "/mavlink", data=data)
 
     def set_gps_origin(self, lat, lon):