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

added conversions of CM to M

This commit is contained in:
Jason Short 2012-01-21 22:09:39 -08:00
parent 7edd16e5fe
commit 2fa24e0557
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/GCS_Mavlink copy.txt
View File

@ -270,7 +270,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
nav_pitch / 1.0e2, nav_pitch / 1.0e2,
target_bearing / 1.0e2, target_bearing / 1.0e2,
dcm.yaw_sensor / 1.0e2, // was target_bearing dcm.yaw_sensor / 1.0e2, // was target_bearing
wp_distance, wp_distance / 1.0e2,
altitude_error / 1.0e2, altitude_error / 1.0e2,
0, 0,
crosstrack_error); crosstrack_error);

6
ArduCopter/GCS_Mavlink.pde
View File

@ -118,7 +118,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
nav_pitch / 1.0e2, nav_pitch / 1.0e2,
nav_bearing / 1.0e2, nav_bearing / 1.0e2,
target_bearing / 1.0e2, target_bearing / 1.0e2,
wp_distance, wp_distance / 1.0e2,
altitude_error / 1.0e2, altitude_error / 1.0e2,
0, 0,
crosstrack_error); // was 0 crosstrack_error); // was 0
@ -1518,13 +1518,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// set dcm hil sensor // set dcm hil sensor
dcm.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed, dcm.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
packet.pitchspeed,packet.yawspeed); packet.pitchspeed,packet.yawspeed);
// rad/sec // rad/sec
Vector3f gyros; Vector3f gyros;
gyros.x = (float)packet.rollspeed; gyros.x = (float)packet.rollspeed;
gyros.y = (float)packet.pitchspeed; gyros.y = (float)packet.pitchspeed;
gyros.z = (float)packet.yawspeed; gyros.z = (float)packet.yawspeed;
imu.set_gyro(gyros); imu.set_gyro(gyros);
//imu.set_accel(accels); //imu.set_accel(accels);