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GCS_MAVLink: show EKF2 status via AHRS3 message

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This commit is contained in:
Andrew Tridgell 2015-09-23 12:22:54 +10:00
parent ce9fa45b3a
commit 7a3b59652f
1 changed files with 13 additions and 0 deletions
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13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -231,6 +231,19 @@ void GCS_MAVLINK::send_ahrs2(AP_AHRS &ahrs)
loc.lat,
loc.lng);
}
AP_AHRS_NavEKF &_ahrs = reinterpret_cast<AP_AHRS_NavEKF&>(ahrs);
if (_ahrs.get_NavEKF2().enabled()) {
_ahrs.get_NavEKF2().getLLH(loc);
_ahrs.get_NavEKF2().getEulerAngles(euler);
mavlink_msg_ahrs3_send(chan,
euler.x,
euler.y,
euler.z,
loc.alt*1.0e-2f,
loc.lat,
loc.lng,
0, 0, 0, 0);
}
#endif
}