Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: send HAGL in OPTICAL_FLOW

This commit is contained in:
Andrew Tridgell 2015-01-03 15:44:50 +11:00
parent 66a03d100e
commit 28f58df310
1 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduPlane/GCS_Mavlink.pde
View File

@ -494,6 +494,12 @@ static void NOINLINE send_opticalflow(mavlink_channel_t chan)
// get rates from sensor
const Vector2f &flowRate = optflow.flowRate();
const Vector2f &bodyRate = optflow.bodyRate();
float hagl = 0;
#if AP_AHRS_NAVEKF_AVAILABLE
if (ahrs.have_inertial_nav()) {
ahrs.get_NavEKF().getHAGL(hagl);
}
#endif
// populate and send message
mavlink_msg_optical_flow_send(
@ -505,7 +511,7 @@ static void NOINLINE send_opticalflow(mavlink_channel_t chan)
bodyRate.x,
bodyRate.y,
optflow.quality(),
0); // ground distance (in meters) set to zero
hagl); // ground distance (in meters) set to zero
}
#endif // OPTFLOW == ENABLED