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Copter: GCS_Mavlink gets gyro direct from imu

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Randy Mackay 2014-02-03 16:25:53 +09:00 committed by Andrew Tridgell
parent f46ff2b44e
commit 3d926a6943
1 changed files with 4 additions and 3 deletions
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7
ArduCopter/GCS_Mavlink.pde
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@ -115,15 +115,16 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
static NOINLINE void send_attitude(mavlink_channel_t chan) static NOINLINE void send_attitude(mavlink_channel_t chan)
{ {
const Vector3f &gyro = ins.get_gyro();
mavlink_msg_attitude_send( mavlink_msg_attitude_send(
chan, chan,
millis(), millis(),
ahrs.roll, ahrs.roll,
ahrs.pitch, ahrs.pitch,
ahrs.yaw, ahrs.yaw,
omega.x, gyro.x,
omega.y, gyro.y,
omega.z); gyro.z);
} }
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED