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GCS_MAVLink: Always check the return value on get_velocity_NED

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Michael du Breuil 2019-03-12 02:46:43 -07:00 committed by Andrew Tridgell
parent fcb54c2d68
commit 75caad52c0
2 changed files with 8 additions and 5 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -445,12 +445,10 @@ protected:
virtual int32_t global_position_int_alt() const; virtual int32_t global_position_int_alt() const;
virtual int32_t global_position_int_relative_alt() const; virtual int32_t global_position_int_relative_alt() const;
// these methods are called after vfr_hud_velned is updated
virtual float vfr_hud_climbrate() const; virtual float vfr_hud_climbrate() const;
virtual float vfr_hud_airspeed() const; virtual float vfr_hud_airspeed() const;
virtual int16_t vfr_hud_throttle() const { return 0; } virtual int16_t vfr_hud_throttle() const { return 0; }
virtual float vfr_hud_alt() const; virtual float vfr_hud_alt() const;
Vector3f vfr_hud_velned;
static constexpr const float magic_force_arm_value = 2989.0f; static constexpr const float magic_force_arm_value = 2989.0f;
static constexpr const float magic_force_disarm_value = 21196.0f; static constexpr const float magic_force_disarm_value = 21196.0f;

11
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2460,7 +2460,11 @@ float GCS_MAVLINK::vfr_hud_airspeed() const
float GCS_MAVLINK::vfr_hud_climbrate() const float GCS_MAVLINK::vfr_hud_climbrate() const
{ {
return -vfr_hud_velned.z; Vector3f velned;
if (!AP::ahrs().get_velocity_NED(velned)) {
velned.zero();
}
return -velned.z;
} }
float GCS_MAVLINK::vfr_hud_alt() const float GCS_MAVLINK::vfr_hud_alt() const
@ -2474,7 +2478,6 @@ void GCS_MAVLINK::send_vfr_hud()
// return values ignored; we send stale data // return values ignored; we send stale data
ahrs.get_position(global_position_current_loc); ahrs.get_position(global_position_current_loc);
ahrs.get_velocity_NED(vfr_hud_velned);
mavlink_msg_vfr_hud_send( mavlink_msg_vfr_hud_send(
chan, chan,
@ -3913,7 +3916,9 @@ void GCS_MAVLINK::send_global_position_int()
ahrs.get_position(global_position_current_loc); // return value ignored; we send stale data ahrs.get_position(global_position_current_loc); // return value ignored; we send stale data
Vector3f vel; Vector3f vel;
ahrs.get_velocity_NED(vel); if (!ahrs.get_velocity_NED(vel)) {
vel.zero();
}
mavlink_msg_global_position_int_send( mavlink_msg_global_position_int_send(
chan, chan,