Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: send inav velocities in global position message

Browse Source 
Also absolute alt now calculated from home alt + current alt above home
instead of using GPS absolute alt
This commit is contained in:
Randy Mackay 2015-01-05 17:50:14 +09:00
parent e464909ddf
commit 3641d3d508
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/GCS_Mavlink.pde
View File

@ -276,17 +276,17 @@ static void NOINLINE send_location(mavlink_channel_t chan)
} else {
fix_time = millis();
}
const Vector3f &vel = gps.velocity();
const Vector3f &vel = inertial_nav.get_velocity();
mavlink_msg_global_position_int_send(
chan,
fix_time,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
gps.location().alt * 10UL, // millimeters above sea level
(ahrs.get_home().alt + current_loc.alt) * 10UL, // millimeters above sea level
current_loc.alt * 10, // millimeters above ground
vel.x * 100, // X speed cm/s (+ve North)
vel.y * 100, // Y speed cm/s (+ve East)
vel.x * -100, // Z speed cm/s (+ve up)
vel.x, // X speed cm/s (+ve North)
vel.y, // Y speed cm/s (+ve East)
vel.z, // Z speed cm/s (+ve up)
ahrs.yaw_sensor); // compass heading in 1/100 degree
}