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GCS_MAVLink: use AHRS position for location

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This is our canonical source of position.
This commit is contained in:
Peter Barker 2021-09-30 12:27:39 +10:00 committed by Andrew Tridgell
parent 07aa00f2b4
commit e4ebea9e26
1 changed files with 2 additions and 4 deletions
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6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -5778,8 +5778,6 @@ void GCS_MAVLINK::send_high_latency2() const
Location global_position_current; Location global_position_current;
UNUSED_RESULT(ahrs.get_position(global_position_current)); UNUSED_RESULT(ahrs.get_position(global_position_current));
Location cur = AP::gps().location();
const AP_BattMonitor &battery = AP::battery(); const AP_BattMonitor &battery = AP::battery();
float battery_current = -1; float battery_current = -1;
int8_t battery_remaining = -1; int8_t battery_remaining = -1;
@ -5831,8 +5829,8 @@ void GCS_MAVLINK::send_high_latency2() const
gcs().frame_type(), // Type of the MAV (quadrotor, helicopter, etc.) gcs().frame_type(), // Type of the MAV (quadrotor, helicopter, etc.)
MAV_AUTOPILOT_ARDUPILOTMEGA, // Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers. MAV_AUTOPILOT_ARDUPILOTMEGA, // Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
gcs().custom_mode(), // A bitfield for use for autopilot-specific flags (2 byte version). gcs().custom_mode(), // A bitfield for use for autopilot-specific flags (2 byte version).
cur.lat, // [degE7] Latitude global_position_current.lat, // [degE7] Latitude
cur.lng, // [degE7] Longitude global_position_current.lng, // [degE7] Longitude
global_position_current.alt * 0.01f, // [m] Altitude above mean sea level global_position_current.alt * 0.01f, // [m] Altitude above mean sea level
high_latency_target_altitude(), // [m] Altitude setpoint high_latency_target_altitude(), // [m] Altitude setpoint
(((uint16_t)ahrs.yaw_sensor / 100) % 360) / 2, // [deg/2] Heading (((uint16_t)ahrs.yaw_sensor / 100) % 360) / 2, // [deg/2] Heading