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Added more output to Mavlink for debugging

This commit is contained in:
Jason Short 2011-11-09 11:00:40 -08:00
parent 17ad58fe32
commit 27d9bc92f3
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/GCS_Mavlink.pde
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@ -111,11 +111,11 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
nav_roll / 1.0e2, nav_roll / 1.0e2,
nav_pitch / 1.0e2, nav_pitch / 1.0e2,
target_bearing / 1.0e2, target_bearing / 1.0e2,
target_bearing / 1.0e2, dcm.yaw_sensor / 1.0e2, // was target_bearing
wp_distance, wp_distance,
altitude_error / 1.0e2, altitude_error / 1.0e2,
0, nav_lon, // was 0
0); nav_lat); // was 0
} }
static void NOINLINE send_gps_raw(mavlink_channel_t chan) static void NOINLINE send_gps_raw(mavlink_channel_t chan)
@ -128,7 +128,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
g_gps->longitude / 1.0e7, g_gps->longitude / 1.0e7,
g_gps->altitude / 100.0, g_gps->altitude / 100.0,
g_gps->hdop, g_gps->hdop,
0.0, current_loc.alt / 100.0, // was 0
g_gps->ground_speed / 100.0, g_gps->ground_speed / 100.0,
g_gps->ground_course / 100.0); g_gps->ground_course / 100.0);
} }