Copter: send ahrs groundspeed estimate instead of GPS groundspeed in VFR_HUD message

2016-10-26 09:02:55 -05:00 · 2016-10-26 09:02:55 -05:00 · 53fcbcb6c3
parent b2a6b93d30
commit 53fcbcb6c3
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -233,7 +233,7 @@ void NOINLINE Copter::send_vfr_hud(mavlink_channel_t chan)
    mavlink_msg_vfr_hud_send(
        chan,
        gps.ground_speed(),
-        gps.ground_speed(),
+        ahrs.groundspeed(),
        (ahrs.yaw_sensor / 100) % 360,
        (int16_t)(motors.get_throttle() * 100),
        current_loc.alt / 100.0f,