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Rover: send y accel in m/s/s as nav_pitch 

this allows for easier tuning in MissionPlanner
This commit is contained in:
Andrew Tridgell 2013-08-26 08:46:22 +10:00
parent 7789f0d133
commit 6c2f623df2
1 changed files with 2 additions and 2 deletions
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4
APMrover2/GCS_Mavlink.pde
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@ -239,8 +239,8 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
{
mavlink_msg_nav_controller_output_send(
chan,
lateral_acceleration,
0,
lateral_acceleration, // use nav_roll to hold demanded Y accel
ins.get_accel().y, // use nav_pitch to hold actual Y accel
nav_controller->nav_bearing_cd() * 0.01f,
nav_controller->target_bearing_cd() * 0.01f,
wp_distance,