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AP_ADSB: bugfix vertical velocity sign was backwards

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Tom Pittenger 2021-10-27 13:44:09 -07:00 committed by Peter Barker
parent 02dc42275c
commit 6107dcc8e7
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp
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@ -69,7 +69,7 @@ void AP_ADSB_uAvionix_MAVLink::send_dynamic_out(const mavlink_channel_t chan) co
const int32_t latitude = _frontend._my_loc.lat;
const int32_t longitude = _frontend._my_loc.lng;
const int32_t altGNSS = _frontend._my_loc.alt * 10; // convert cm to mm
const int16_t velVert = gps_velocity.z * 1E2; // convert m/s to cm/s
const int16_t velVert = -1.0f * gps_velocity.z * 1E2; // convert m/s to cm/s
const int16_t nsVog = gps_velocity.x * 1E2; // convert m/s to cm/s
const int16_t ewVog = gps_velocity.y * 1E2; // convert m/s to cm/s
const uint8_t fixType = gps.status(); // this lines up perfectly with our enum

2
libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
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@ -364,7 +364,7 @@ void AP_ADSB_uAvionix_UCP::send_GPS_Data()
msg.verticalVelocityFOM_mmps = msg.horizontalVelocityFOM_mmps;
// Velocities
msg.verticalVelocity_cmps = fix_is_good ? velocity.z * 1E2 : INT16_MAX;
msg.verticalVelocity_cmps = fix_is_good ? -1.0f * velocity.z * 1E2 : INT16_MAX;
msg.northVelocity_mmps = fix_is_good ? velocity.x * 1E3 : INT32_MAX;
msg.eastVelocity_mmps = fix_is_good ? velocity.y * 1E3 : INT32_MAX;