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Copter: Use AHRS heading in GLOBAL_POSITION_INT message 

The definition of the heading field for GLOBAL_POSITION_INT is the
compass heading, and so it is used for Plane and Rover.  Copter
however uses the GPS course over ground in this field.

My personal beef with this is simply that the mapping display in
MAVProxy is wrong for Copter.  The question is: Do any GCS currently
rely on this field for GPS course rather than getting it from
GPS_RAW_INT as they should?
This commit is contained in:
Ben Nizette 2013-12-03 17:41:23 +11:00 committed by Randy Mackay
parent e54bf3e87c
commit 58735ac1aa
1 changed files with 1 additions and 1 deletions
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ArduCopter/GCS_Mavlink.pde
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@ -249,7 +249,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
g_gps->velocity_north() * 100, // X speed cm/s (+ve North)
g_gps->velocity_east() * 100, // Y speed cm/s (+ve East)
g_gps->velocity_down() * -100, // Z speed cm/s (+ve up)
g_gps->ground_course_cd); // course in 1/100 degree
ahrs.yaw_sensor); // compass heading in 1/100 degree
}
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)