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Replay: handle float ground speed in GPS

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This commit is contained in:
Andrew Tridgell 2016-05-05 10:23:10 +10:00
parent d116071054
commit 0571f86c17
1 changed files with 8 additions and 4 deletions
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12
Tools/Replay/MsgHandler.cpp
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@ -213,12 +213,16 @@ void MsgHandler::ground_vel_from_msg(uint8_t *msg,
const char *label_course,
const char *label_vz)
{
uint32_t ground_speed;
float ground_speed;
int32_t ground_course;
require_field(msg, label_speed, ground_speed);
if (!field_value(msg, label_speed, ground_speed)) {
uint32_t speed_cms;
require_field(msg, label_speed, speed_cms);
ground_speed = speed_cms * 0.01f;
}
require_field(msg, label_course, ground_course);
vel[0] = ground_speed*0.01f*cosf(radians(ground_course*0.01f));
vel[1] = ground_speed*0.01f*sinf(radians(ground_course*0.01f));
vel[0] = ground_speed*cosf(radians(ground_course*0.01f));
vel[1] = ground_speed*sinf(radians(ground_course*0.01f));
vel[2] = require_field_float(msg, label_vz);
}