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Copter: fix OSD wp_distance and wp_xtrack_error 

need conversion from centimeters to meters as expected by OSD code
This commit is contained in:
yaapu 2018-09-15 01:17:15 +02:00 committed by Andrew Tridgell
parent cdcf26e97b
commit 5e46b97894
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/ArduCopter.cpp
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@ -587,9 +587,11 @@ void Copter::update_altitude()
void Copter::publish_osd_info()
{
AP_OSD::NavInfo nav_info;
nav_info.wp_distance = flightmode->wp_distance();
//wp_distance: conversion needed from centimeters to meters
nav_info.wp_distance = flightmode->wp_distance() * 1.0e-2f;
nav_info.wp_bearing = flightmode->wp_bearing();
nav_info.wp_xtrack_error = flightmode->crosstrack_error();
//crosstrack_error: conversion needed from centimeters to meters
nav_info.wp_xtrack_error = flightmode->crosstrack_error() * 1.0e-2f;
nav_info.wp_number = mission.get_current_nav_index();
osd.set_nav_info(nav_info);
}