Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_ADSB: fix SageTech MXS climbRate sign

This commit is contained in:
Tom Pittenger 2023-06-05 16:59:13 -07:00 committed by Peter Barker
parent 5984857751
commit d23d808f07
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
View File

@ -337,7 +337,7 @@ void AP_ADSB_Sagetech_MXS::auto_config_operating()
float vertRateD; float vertRateD;
if (AP::ahrs().get_vert_pos_rate_D(vertRateD)) { if (AP::ahrs().get_vert_pos_rate_D(vertRateD)) {
// convert from down to up, and scale appropriately: // convert from down to up, and scale appropriately:
mxs_state.op.climbRate = -vertRateD * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN; mxs_state.op.climbRate = -1 * vertRateD * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN;
mxs_state.op.climbValid = true; mxs_state.op.climbValid = true;
} else { } else {
mxs_state.op.climbValid = false; mxs_state.op.climbValid = false;
@ -592,9 +592,9 @@ void AP_ADSB_Sagetech_MXS::send_operating_msg()
mxs_state.op.altitude = 0; mxs_state.op.altitude = 0;
} }
float vertRate; float vertRateD;
if (AP::ahrs().get_vert_pos_rate_D(vertRate)) { if (AP::ahrs().get_vert_pos_rate_D(vertRateD)) {
mxs_state.op.climbRate = vertRate * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN; mxs_state.op.climbRate = -1 * vertRateD * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN;
mxs_state.op.climbValid = true; mxs_state.op.climbValid = true;
} else { } else {
mxs_state.op.climbValid = false; mxs_state.op.climbValid = false;