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GCS Mavlink.pde: change reference to nav_bearing to target_bearing.

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This commit is contained in:
Jason Short 2012-06-25 22:19:51 -07:00
parent 53d2a46cd6
commit c71c503c84
1 changed files with 11 additions and 11 deletions
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22
ArduCopter/GCS_Mavlink.pde
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@ -255,7 +255,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
chan, chan,
nav_roll / 1.0e2, nav_roll / 1.0e2,
nav_pitch / 1.0e2, nav_pitch / 1.0e2,
nav_bearing / 1.0e2, target_bearing / 1.0e2,
target_bearing / 1.0e2, target_bearing / 1.0e2,
wp_distance / 1.0e2, wp_distance / 1.0e2,
altitude_error / 1.0e2, altitude_error / 1.0e2,
@ -1861,7 +1861,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
APM_RC.setHIL(v); APM_RC.setHIL(v);
break; break;
} }
#if HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED #if HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED
// This is used both as a sensor and to pass the location // This is used both as a sensor and to pass the location
// in HIL_ATTITUDE mode. Note that MAVLINK10 uses HIL_STATE // in HIL_ATTITUDE mode. Note that MAVLINK10 uses HIL_STATE
@ -1886,7 +1886,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
break; break;
} }
#if HIL_MODE == HIL_MODE_ATTITUDE #if HIL_MODE == HIL_MODE_ATTITUDE
case MAVLINK_MSG_ID_ATTITUDE: //30 case MAVLINK_MSG_ID_ATTITUDE: //30
{ {
@ -1929,21 +1929,21 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
#endif // HIL_MODE_ATTITUDE #endif // HIL_MODE_ATTITUDE
#endif // HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED #endif // HIL_MODE != HIL_MODE_DISABLED && MAVLINK10 != ENABLED
#if MAVLINK10 == ENABLED && HIL_MODE != HIL_MODE_DISABLED #if MAVLINK10 == ENABLED && HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_HIL_STATE: case MAVLINK_MSG_ID_HIL_STATE:
{ {
mavlink_hil_state_t packet; mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet); mavlink_msg_hil_state_decode(msg, &packet);
float vel = sqrt((packet.vx * (float)packet.vx) + (packet.vy * (float)packet.vy)); float vel = sqrt((packet.vx * (float)packet.vx) + (packet.vy * (float)packet.vy));
float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100); float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100);
// set gps hil sensor // set gps hil sensor
g_gps->setHIL(packet.time_usec/1000.0, g_gps->setHIL(packet.time_usec/1000.0,
packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3, packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3,
vel*1.0e-2, cog*1.0e-2, 0, 10); vel*1.0e-2, cog*1.0e-2, 0, 10);
if (gps_base_alt == 0) { if (gps_base_alt == 0) {
gps_base_alt = g_gps->altitude; gps_base_alt = g_gps->altitude;
} }
@ -1953,9 +1953,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (!home_is_set) { if (!home_is_set) {
init_home(); init_home();
} }
#if HIL_MODE == HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_SENSORS
// rad/sec // rad/sec
Vector3f gyros; Vector3f gyros;
gyros.x = (float)packet.xgyro / 1000.0; gyros.x = (float)packet.xgyro / 1000.0;
@ -1970,7 +1970,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
imu.set_gyro(gyros); imu.set_gyro(gyros);
imu.set_accel(accels); imu.set_accel(accels);
#else #else
// set AHRS hil sensor // set AHRS hil sensor
@ -1982,7 +1982,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
#endif // MAVLINK10 == ENABLED && HIL_MODE != HIL_MODE_DISABLED #endif // MAVLINK10 == ENABLED && HIL_MODE != HIL_MODE_DISABLED
/* /*
case MAVLINK_MSG_ID_HEARTBEAT: case MAVLINK_MSG_ID_HEARTBEAT:
{ {