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AP_Devo_Telem: fixed to check for have_position

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This commit is contained in:
Andrew Tridgell 2018-04-24 09:47:18 +10:00
parent aa53832a70
commit da5df5ca20
1 changed files with 2 additions and 9 deletions
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11
libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
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@ -82,16 +82,9 @@ void AP_DEVO_Telem::send_frames(uint8_t control_mode)
}
const AP_GPS &gps = AP::gps();
if (gps.status() >= (enum AP_GPS::GPS_Status)GPS_FIX_TYPE_3D_FIX) {
#if 0
// GPS version, tested, working
Location loc = gps.location();
#else
// AHRS version, untested
Location loc;
_ahrs.get_position(loc);
#endif
if (_ahrs.get_position(loc)) {
devoPacket.lat = gpsDdToDmsFormat(loc.lat);
devoPacket.lon = gpsDdToDmsFormat(loc.lng);
devoPacket.speed = (int16_t)(gps.ground_speed() * DEVO_SPEED_FACTOR * 100.0f); // * 100 for cm