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Copter: changes for GPS field changes

This commit is contained in:
Andrew Tridgell 2013-07-10 14:02:48 +10:00
parent b5db3288ae
commit da4137b731
4 changed files with 12 additions and 12 deletions
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2
ArduCopter/ArduCopter.pde
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@ -2018,7 +2018,7 @@ static void update_altitude()
{
#if HIL_MODE == HIL_MODE_ATTITUDE
// we are in the SIM, fake out the baro and Sonar
baro_alt = g_gps->altitude - gps_base_alt;
baro_alt = g_gps->altitude_cm - gps_base_alt;
if(g.sonar_enabled) {
sonar_alt = baro_alt;

4
ArduCopter/Attitude.pde
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@ -707,8 +707,8 @@ static void get_look_at_yaw()
static void get_look_ahead_yaw(int16_t pilot_yaw)
{
// Commanded Yaw to automatically look ahead.
if (g_gps->fix && g_gps->ground_course > YAW_LOOK_AHEAD_MIN_SPEED) {
nav_yaw = get_yaw_slew(nav_yaw, g_gps->ground_course, AUTO_YAW_SLEW_RATE);
if (g_gps->fix && g_gps->ground_course_cd > YAW_LOOK_AHEAD_MIN_SPEED) {
nav_yaw = get_yaw_slew(nav_yaw, g_gps->ground_course_cd, AUTO_YAW_SLEW_RATE);
get_stabilize_yaw(wrap_360_cd(nav_yaw + pilot_yaw)); // Allow pilot to "skid" around corners up to 45 degrees
}else{
nav_yaw += pilot_yaw * g.acro_p * G_Dt;

16
ArduCopter/GCS_Mavlink.pde
View File

@ -235,12 +235,12 @@ static void NOINLINE send_location(mavlink_channel_t chan)
fix_time,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
g_gps->altitude * 10, // millimeters above sea level
g_gps->altitude_cm * 10, // millimeters above sea level
(current_loc.alt - home.alt) * 10, // millimeters above ground
g_gps->velocity_north() * 100, // X speed cm/s (+ve North)
g_gps->velocity_east() * 100, // Y speed cm/s (+ve East)
g_gps->velocity_down() * -100, // Z speed cm/s (+ve up)
g_gps->ground_course); // course in 1/100 degree
g_gps->ground_course_cd); // course in 1/100 degree
}
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
@ -295,11 +295,11 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
g_gps->status(),
g_gps->latitude, // in 1E7 degrees
g_gps->longitude, // in 1E7 degrees
g_gps->altitude * 10, // in mm
g_gps->altitude_cm * 10, // in mm
g_gps->hdop,
65535,
g_gps->ground_speed, // cm/s
g_gps->ground_course, // 1/100 degrees,
g_gps->ground_speed_cm, // cm/s
g_gps->ground_course_cd, // 1/100 degrees,
g_gps->num_sats);
}
@ -412,8 +412,8 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
{
mavlink_msg_vfr_hud_send(
chan,
(float)g_gps->ground_speed / 100.0f,
(float)g_gps->ground_speed / 100.0f,
(float)g_gps->ground_speed_cm / 100.0f,
(float)g_gps->ground_speed_cm / 100.0f,
(ahrs.yaw_sensor / 100) % 360,
g.rc_3.servo_out/10,
current_loc.alt / 100.0f,
@ -1932,7 +1932,7 @@ mission_failed:
vel*1.0e-2, cog*1.0e-2, 0, 10);
if (gps_base_alt == 0) {
gps_base_alt = g_gps->altitude;
gps_base_alt = g_gps->altitude_cm;
current_loc.alt = 0;
}

2
ArduCopter/test.pde
View File

@ -276,7 +276,7 @@ test_gps(uint8_t argc, const Menu::arg *argv)
cliSerial->printf_P(PSTR(", Lon "));
print_latlon(cliSerial, g_gps->longitude);
cliSerial->printf_P(PSTR(", Alt: %ldm, #sats: %d\n"),
g_gps->altitude/100,
g_gps->altitude_cm/100,
g_gps->num_sats);
g_gps->new_data = false;
}else{