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Plane: switched to AHRS2 message for reporting

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This commit is contained in:
Andrew Tridgell 2014-01-02 13:47:23 +11:00
parent ea0f9392ef
commit 99cfaf6097
1 changed files with 10 additions and 10 deletions
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20
ArduPlane/GCS_Mavlink.pde
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@ -533,15 +533,15 @@ static void NOINLINE send_ekf(mavlink_channel_t chan)
#if AP_AHRS_NAVEKF_AVAILABLE
Vector3f euler;
struct Location loc;
ahrs.get_NavEKF().getEulerAngles(euler);
ahrs.get_NavEKF().getLLH(loc);
mavlink_msg_ekf_send(chan,
euler.x,
euler.y,
euler.z,
loc.alt*1.0e-2f,
loc.lat,
loc.lng);
if (ahrs.get_secondary_attitude(euler) && ahrs.get_secondary_position(loc)) {
mavlink_msg_ahrs2_send(chan,
euler.x,
euler.y,
euler.z,
loc.alt*1.0e-2f,
loc.lat,
loc.lng);
}
#endif
}
@ -744,7 +744,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id)
case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate(chan);
CHECK_PAYLOAD_SIZE(EKF);
CHECK_PAYLOAD_SIZE(AHRS2);
send_ekf(chan);
break;