From c91fdcea7238703e7840485c4695b33d5e2c3515 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Fri, 30 Apr 2021 23:38:10 +0930 Subject: [PATCH] Blimp: Use PosControl fixes --- Blimp/GCS_Mavlink.cpp | 4 ++-- Blimp/mode.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp index c14d7c7141..d01a8705b5 100644 --- a/Blimp/GCS_Mavlink.cpp +++ b/Blimp/GCS_Mavlink.cpp @@ -134,11 +134,11 @@ void GCS_MAVLINK_Blimp::send_position_target_global_int() // target_pos = blimp.wp_nav->get_wp_destination() * 0.01f; // convert to metres // } else if (guided_mode == Guided_Velocity) { // type_mask = 0x0FC7; // ignore everything except velocity -// target_vel = blimp.flightmode->get_desired_velocity() * 0.01f; // convert to m/s +// target_vel = blimp.flightmode->get_vel_desired_cms() * 0.01f; // convert to m/s // } else { // type_mask = 0x0FC0; // ignore everything except position & velocity // target_pos = blimp.wp_nav->get_wp_destination() * 0.01f; -// target_vel = blimp.flightmode->get_desired_velocity() * 0.01f; +// target_vel = blimp.flightmode->get_vel_desired_cms() * 0.01f; // } // mavlink_msg_position_target_local_ned_send( diff --git a/Blimp/mode.h b/Blimp/mode.h index 0b60f3d66d..60eda6b77f 100644 --- a/Blimp/mode.h +++ b/Blimp/mode.h @@ -124,10 +124,10 @@ public: // altitude fence float get_avoidance_adjusted_climbrate(float target_rate); - // const Vector3f& get_desired_velocity() { + // const Vector3f& get_vel_desired_cms() { // // note that position control isn't used in every mode, so // // this may return bogus data: - // return pos_control->get_desired_velocity(); + // return pos_control->get_vel_desired_cms(); // } protected: