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Copter: scale HIL accels consistently with Plane code

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This commit is contained in:
Randy Mackay 2013-03-19 15:07:15 +09:00
parent c9576e59f9
commit a17421da27
1 changed files with 8 additions and 6 deletions
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14
ArduCopter/GCS_Mavlink.pde
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@ -1907,11 +1907,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
gyros.x = packet.rollspeed;
gyros.y = packet.pitchspeed;
gyros.z = packet.yawspeed;
// m/s/s
Vector3f accels;
accels.x = (float)packet.xacc / 1000.0;
accels.y = (float)packet.yacc / 1000.0;
accels.z = (float)packet.zacc / 1000.0;
accels.x = packet.xacc * (GRAVITY_MSS/1000.0);
accels.y = packet.yacc * (GRAVITY_MSS/1000.0);
accels.z = packet.zacc * (GRAVITY_MSS/1000.0);
ins.set_gyro(gyros);
@ -1985,11 +1986,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
gyros.x = (float)packet.xgyro / 1000.0;
gyros.y = (float)packet.ygyro / 1000.0;
gyros.z = (float)packet.zgyro / 1000.0;
// m/s/s
Vector3f accels;
accels.x = (float)packet.xacc / 1000.0;
accels.y = (float)packet.yacc / 1000.0;
accels.z = (float)packet.zacc / 1000.0;
accels.x = packet.xacc * (GRAVITY_MSS/1000.0);
accels.y = packet.yacc * (GRAVITY_MSS/1000.0);
accels.z = packet.zacc * (GRAVITY_MSS/1000.0);
ins.set_gyro(gyros);