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Rover: global-pos-int uses vel from EKF instead of GPS

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This commit is contained in:
Randy Mackay 2018-02-08 08:11:59 +09:00
parent dd6755f486
commit 24b8ed48b6
1 changed files with 4 additions and 13 deletions
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17
APMrover2/GCS_Mavlink.cpp
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@ -102,21 +102,12 @@ void Rover::send_extended_status1(mavlink_channel_t chan)
void Rover::send_location(mavlink_channel_t chan) void Rover::send_location(mavlink_channel_t chan)
{ {
uint32_t fix_time; const uint32_t now = AP_HAL::millis();
// if we have a GPS fix, take the time as the last fix time. That Vector3f vel;
// allows us to correctly calculate velocities and extrapolate ahrs.get_velocity_NED(vel);
// positions.
// If we don't have a GPS fix then we are dead reckoning, and will
// use the current boot time as the fix time.
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
fix_time = gps.last_fix_time_ms();
} else {
fix_time = millis();
}
const Vector3f &vel = gps.velocity();
mavlink_msg_global_position_int_send( mavlink_msg_global_position_int_send(
chan, chan,
fix_time, now,
current_loc.lat, // in 1E7 degrees current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees current_loc.lng, // in 1E7 degrees
current_loc.alt * 10UL, // millimeters above sea level current_loc.alt * 10UL, // millimeters above sea level