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HIL: fixed altitude calculation 

ACM uses a zero home altitude, so we need an offset when using GPS for
altitude

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2910 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-07-18 12:44:02 +00:00
parent 60bf2182e4
commit 98980d6f61
2 changed files with 9 additions and 3 deletions
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4
ArduCopterMega/ArduCopterMega.pde
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@ -171,7 +171,7 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
AP_GPS_HIL g_gps_driver(NULL); AP_GPS_HIL g_gps_driver(NULL);
AP_Compass_HIL compass; // never used AP_Compass_HIL compass; // never used
AP_IMU_Shim imu; // never used AP_IMU_Shim imu; // never used
static int32_t gps_base_alt;
#else #else
#error Unrecognised HIL_MODE setting. #error Unrecognised HIL_MODE setting.
#endif // HIL MODE #endif // HIL MODE
@ -1314,7 +1314,7 @@ static void update_alt()
altitude_sensor = BARO; altitude_sensor = BARO;
#if HIL_MODE == HIL_MODE_ATTITUDE #if HIL_MODE == HIL_MODE_ATTITUDE
current_loc.alt = g_gps->altitude; current_loc.alt = g_gps->altitude - gps_base_alt;
return; return;
#else #else

8
ArduCopterMega/GCS_Mavlink.pde
View File

@ -899,9 +899,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// set gps hil sensor // set gps hil sensor
g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt, g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt,
packet.v,packet.hdg,0,0); packet.v,packet.hdg,0,0);
if (gps_base_alt == 0) {
gps_base_alt = packet.alt*100;
}
current_loc.lng = packet.lon * T7; current_loc.lng = packet.lon * T7;
current_loc.lat = packet.lat * T7; current_loc.lat = packet.lat * T7;
current_loc.alt = packet.alt * 10; current_loc.alt = g_gps->altitude - gps_base_alt;
if (!home_is_set) {
init_home();
}
break; break;
} }
#if HIL_MODE == HIL_MODE_ATTITUDE #if HIL_MODE == HIL_MODE_ATTITUDE