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APM: use raw GPS velocity in GLOBAL_POSITION_INT

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a much more useful value to log
This commit is contained in:
Andrew Tridgell 2012-10-31 21:50:55 +11:00
parent ea40432235
commit 2793e432ff
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/GCS_Mavlink.pde
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@ -238,9 +238,9 @@ 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)
ahrs.yaw_sensor);
}