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AP_OADatabase: send_adsb uses vehicle's current altitude

This commit is contained in:
Randy Mackay 2019-12-30 09:34:44 +09:00
parent 985a15709a
commit 2e02ee1df8
1 changed files with 7 additions and 1 deletions
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8
libraries/AC_Avoidance/AP_OADatabase.cpp
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@ -341,6 +341,12 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
return; return;
} }
// use vehicle's current altitude
Location current_loc;
if (!AP::ahrs().get_position(current_loc)) {
current_loc.alt = 0;
}
const uint8_t chan_as_bitmask = 1 << chan; const uint8_t chan_as_bitmask = 1 << chan;
const char callsign[9] = "OA_DB"; const char callsign[9] = "OA_DB";
@ -381,7 +387,7 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
item_loc.lat, item_loc.lat,
item_loc.lng, item_loc.lng,
0, // altitude_type 0, // altitude_type
0, // altitude is always zero current_loc.alt, // use vehicle's current altitude
0, // heading 0, // heading
0, // hor_velocity 0, // hor_velocity
0, // ver_velocity 0, // ver_velocity