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MAVLink: improve usefulness of logged GPS velocities

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we need them to align with time to use them for accelerations
This commit is contained in:
Andrew Tridgell 2012-11-13 16:38:24 +11:00
parent 5f57678a9c
commit 531e62d3b5
2 changed files with 24 additions and 2 deletions
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13
ArduCopter/GCS_Mavlink.pde
View File

@ -200,9 +200,20 @@ static void NOINLINE send_meminfo(mavlink_channel_t chan)
static void NOINLINE send_location(mavlink_channel_t chan)
{
uint32_t fix_time;
// if we have a GPS fix, take the time as the last fix time. That
// allows us to correctly calculate velocities and extrapolate
// positions.
// If we don't have a GPS fix then we are dead reckoning, and will
// use the current boot time as the fix time.
if (g_gps->status() == GPS::GPS_OK) {
fix_time = g_gps->last_fix_time;
} else {
fix_time = millis();
}
mavlink_msg_global_position_int_send(
chan,
millis(),
fix_time,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
g_gps->altitude * 10, // millimeters above sea level

13
ArduPlane/GCS_Mavlink.pde
View File

@ -237,9 +237,20 @@ static void NOINLINE send_meminfo(mavlink_channel_t chan)
static void NOINLINE send_location(mavlink_channel_t chan)
{
uint32_t fix_time;
// if we have a GPS fix, take the time as the last fix time. That
// allows us to correctly calculate velocities and extrapolate
// positions.
// If we don't have a GPS fix then we are dead reckoning, and will
// use the current boot time as the fix time.
if (g_gps->status() == GPS::GPS_OK) {
fix_time = g_gps->last_fix_time;
} else {
fix_time = millis();
}
mavlink_msg_global_position_int_send(
chan,
millis(),
fix_time,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
g_gps->altitude * 10, // millimeters above sea level