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GCS_MAVLink: Correct sending SCALED_PRESSURE.press_diff

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Closes #6642
This commit is contained in:
Michael du Breuil 2018-03-04 17:14:04 -07:00 committed by Francisco Ferreira
parent a46c60f4de
commit 6652dd73e4
1 changed files with 9 additions and 1 deletions
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10
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -19,6 +19,7 @@
#include <AP_OpticalFlow/AP_OpticalFlow.h> #include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_RangeFinder/RangeFinder_Backend.h> #include <AP_RangeFinder/RangeFinder_Backend.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include "GCS.h" #include "GCS.h"
@ -1069,11 +1070,18 @@ void GCS_MAVLINK::send_scaled_pressure()
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
const AP_Baro &barometer = AP::baro(); const AP_Baro &barometer = AP::baro();
float pressure = barometer.get_pressure(0); float pressure = barometer.get_pressure(0);
float diff_pressure = 0; // pascal
AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr) {
diff_pressure = airspeed->get_differential_pressure();
}
mavlink_msg_scaled_pressure_send( mavlink_msg_scaled_pressure_send(
chan, chan,
now, now,
pressure*0.01f, // hectopascal pressure*0.01f, // hectopascal
(pressure - barometer.get_ground_pressure(0))*0.01f, // hectopascal diff_pressure*0.01f, // hectopascal
barometer.get_temperature(0)*100); // 0.01 degrees C barometer.get_temperature(0)*100); // 0.01 degrees C
if (barometer.num_instances() > 1 && if (barometer.num_instances() > 1 &&