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Plane: add comment about us sending airspeed error in wrong units

This commit is contained in:
Peter Barker 2021-10-01 20:35:41 +10:00 committed by Andrew Tridgell
parent e4ebea9e26
commit 3e031e78e5
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/GCS_Mavlink.cpp
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@ -184,7 +184,7 @@ void GCS_MAVLINK_Plane::send_nav_controller_output() const
wp_nav_valid ? quadplane.wp_nav->get_wp_bearing_to_destination() : 0,
wp_nav_valid ? MIN(quadplane.wp_nav->get_wp_distance_to_destination() * 0.01, UINT16_MAX) : 0,
(plane.control_mode != &plane.mode_qstabilize) ? quadplane.pos_control->get_pos_error_z_cm() * 0.01 : 0,
plane.airspeed_error * 100,
plane.airspeed_error * 100, // incorrect units; see PR#7933
wp_nav_valid ? quadplane.wp_nav->crosstrack_error() : 0);
return;
}
@ -199,7 +199,7 @@ void GCS_MAVLINK_Plane::send_nav_controller_output() const
nav_controller->target_bearing_cd() * 0.01,
MIN(plane.auto_state.wp_distance, UINT16_MAX),
plane.altitude_error_cm * 0.01,
plane.airspeed_error * 100,
plane.airspeed_error * 100, // incorrect units; see PR#7933
nav_controller->crosstrack_error());
}
}