Copter: GCS_Mavlink gets gyro direct from imu

2014-02-03 16:25:53 +09:00 · 2014-02-03 16:25:53 +09:00 · 3d926a6943
parent f46ff2b44e
commit 3d926a6943
1 changed files with 4 additions and 3 deletions
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@ -115,15 +115,16 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)

 static NOINLINE void send_attitude(mavlink_channel_t chan)
 {
+    const Vector3f &gyro = ins.get_gyro();
    mavlink_msg_attitude_send(
        chan,
        millis(),
        ahrs.roll,
        ahrs.pitch,
        ahrs.yaw,
-        omega.x,
-        omega.y,
-        omega.z);
+        gyro.x,
+        gyro.y,
+        gyro.z);
 }

 #if AC_FENCE == ENABLED