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GCS_MAVLink: make VFR_HUD always return height above MSL

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Peter Barker 2018-05-29 13:53:48 +10:00 committed by Andrew Tridgell
parent 749861f8ad
commit e50a817150
2 changed files with 2 additions and 10 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -371,7 +371,6 @@ protected:
virtual int32_t global_position_int_relative_alt() const;
// these methods are called after vfr_hud_velned is updated
virtual bool vfr_hud_make_alt_relative() const { return false; }
virtual float vfr_hud_climbrate() const;
virtual float vfr_hud_airspeed() const;
virtual int16_t vfr_hud_throttle() const { return 0; }

11
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1753,20 +1753,13 @@ void GCS_MAVLINK::send_vfr_hud()
ahrs.get_position(global_position_current_loc);
ahrs.get_velocity_NED(vfr_hud_velned);
float alt;
if (vfr_hud_make_alt_relative()) {
ahrs.get_relative_position_D_home(alt);
alt = -alt;
} else {
alt = global_position_current_loc.alt / 100.0f;
}
mavlink_msg_vfr_hud_send(
chan,
vfr_hud_airspeed(),
ahrs.groundspeed(),
(ahrs.yaw_sensor / 100) % 360,
vfr_hud_throttle(),
alt,
global_position_current_loc.alt * 0.01f, // cm -> m
vfr_hud_climbrate());
}
@ -2867,7 +2860,7 @@ void GCS_MAVLINK::send_global_position_int()
global_position_current_loc.lat, // in 1E7 degrees
global_position_current_loc.lng, // in 1E7 degrees
global_position_int_alt(), // millimeters above ground/sea level
global_position_int_relative_alt(), // millimeters above ground/sea level
global_position_int_relative_alt(), // millimeters above home
vel.x * 100, // X speed cm/s (+ve North)
vel.y * 100, // Y speed cm/s (+ve East)
vel.z * 100, // Z speed cm/s (+ve Down)