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AP_Frsky_Telem: only use downward facing rangefinder

This commit is contained in:
Randy Mackay 2017-02-09 19:28:11 +09:00
parent 3f6a734a71
commit 65c8f87b17
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -757,7 +757,7 @@ uint32_t AP_Frsky_Telem::calc_attiandrng(void)
// pitch from [-9000;9000] centidegrees to unsigned .2 degree increments [0;900] (just in case, limit to 1023 (0x3FF) since the value is stored on 10 bits)
attiandrng |= ((uint16_t)roundf((_ahrs.pitch_sensor + 9000) * 0.05f) & ATTIANDRNG_PITCH_LIMIT)<<ATTIANDRNG_PITCH_OFFSET;
// rangefinder measurement in cm
attiandrng |= prep_number(_rng.distance_cm(), 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
attiandrng |= prep_number(_rng.distance_cm_orient(ROTATION_PITCH_270), 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
return attiandrng;
}