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Copter: send LOCAL_POSITION_NED

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very useful for GPS-disabled operation and EKF debugging
This commit is contained in:
Andrew Tridgell 2015-04-05 08:24:35 -07:00
parent 6e52ef2a74
commit 29be2f0b60
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/GCS_Mavlink.pde
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@ -487,6 +487,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
send_location(chan);
break;
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position(ahrs);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
send_nav_controller_output(chan);
@ -819,6 +824,7 @@ GCS_MAVLINK::data_stream_send(void)
if (stream_trigger(STREAM_POSITION)) {
send_message(MSG_LOCATION);
send_message(MSG_LOCAL_POSITION);
}
if (gcs_out_of_time) return;