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ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT

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these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
This commit is contained in:
Andrew Tridgell 2012-11-05 15:23:41 +11:00
parent f6ff6d8054
commit 03974fa9db
1 changed files with 3 additions and 4 deletions
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7
ArduCopter/GCS_Mavlink.pde
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@ -193,7 +193,6 @@ static void NOINLINE send_meminfo(mavlink_channel_t chan)
static void NOINLINE send_location(mavlink_channel_t chan)
{
Matrix3f rot = ahrs.get_dcm_matrix(); // neglecting angle of attack for now
mavlink_msg_global_position_int_send(
chan,
millis(),
@ -201,9 +200,9 @@ static void NOINLINE send_location(mavlink_channel_t chan)
current_loc.lng, // in 1E7 degrees
g_gps->altitude * 10, // millimeters above sea level
(current_loc.alt - home.alt) * 10, // millimeters above ground
g_gps->ground_speed * rot.a.x, // X speed cm/s
g_gps->ground_speed * rot.b.x, // Y speed cm/s
g_gps->ground_speed * rot.c.x,
g_gps->velocity_north() * 100, // X speed cm/s (+ve North)
g_gps->velocity_east() * 100, // Y speed cm/s (+ve East)
g_gps->velocity_down() * -100, // Z speed cm/s (+ve up)
g_gps->ground_course); // course in 1/100 degree
}