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Sub: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing

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Michael du Breuil 2017-06-18 22:39:46 -07:00 committed by Francisco Ferreira
parent 8691eae679
commit df15a82f88
1 changed files with 6 additions and 6 deletions
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12
ArduSub/GCS_Mavlink.cpp
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@ -272,12 +272,12 @@ void NOINLINE Sub::send_nav_controller_output(mavlink_channel_t chan)
const Vector3f &targets = attitude_control.get_att_target_euler_cd();
mavlink_msg_nav_controller_output_send(
chan,
targets.x / 1.0e2f,
targets.y / 1.0e2f,
targets.z / 1.0e2f,
wp_nav.get_wp_bearing_to_destination() / 1.0e2f,
wp_nav.get_wp_distance_to_destination() / 1.0e2f,
pos_control.get_alt_error() / 1.0e2f,
targets.x * 1.0e-2f,
targets.y * 1.0e-2f,
targets.z * 1.0e-2f,
wp_nav.get_wp_bearing_to_destination() * 1.0e-2f,
MIN(wp_nav.get_wp_distance_to_destination() * 1.0e-2f, UINT16_MAX),
pos_control.get_alt_error() * 1.0e-2f,
0,
0);
}