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AP_Frsky_Telem: fixed roll and pitch for VTOL view

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yaapu 2022-09-22 23:42:29 +02:00 committed by Andrew Tridgell
parent 48ce8c4e16
commit 89c30ae345
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
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@ -683,11 +683,13 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_attiandrng(void)
{ {
const RangeFinder *_rng = RangeFinder::get_singleton(); const RangeFinder *_rng = RangeFinder::get_singleton();
AP_AHRS &_ahrs = AP::ahrs(); float roll;
float pitch;
AP::vehicle()->get_osd_roll_pitch_rad(roll,pitch);
// roll from [-18000;18000] centidegrees to unsigned .2 degree increments [0;1800] (just in case, limit to 2047 (0x7FF) since the value is stored on 11 bits) // roll from [-18000;18000] centidegrees to unsigned .2 degree increments [0;1800] (just in case, limit to 2047 (0x7FF) since the value is stored on 11 bits)
uint32_t attiandrng = ((uint16_t)roundf((_ahrs.roll_sensor + 18000) * 0.05f) & ATTIANDRNG_ROLL_LIMIT); uint32_t attiandrng = ((uint16_t)roundf((roll * RAD_TO_DEG * 100 + 18000) * 0.05f) & ATTIANDRNG_ROLL_LIMIT);
// 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) // 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; attiandrng |= ((uint16_t)roundf((pitch * RAD_TO_DEG * 100 + 9000) * 0.05f) & ATTIANDRNG_PITCH_LIMIT)<<ATTIANDRNG_PITCH_OFFSET;
// rangefinder measurement in cm // rangefinder measurement in cm
attiandrng |= prep_number(_rng ? _rng->distance_cm_orient(ROTATION_PITCH_270) : 0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET; attiandrng |= prep_number(_rng ? _rng->distance_cm_orient(ROTATION_PITCH_270) : 0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
return attiandrng; return attiandrng;