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Copter: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing

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Michael du Breuil 2017-06-18 22:39:56 -07:00 committed by Francisco Ferreira
parent df15a82f88
commit f0cb234228
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/GCS_Mavlink.cpp
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@ -164,12 +164,12 @@ void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
const Vector3f &targets = attitude_control->get_att_target_euler_cd(); const Vector3f &targets = attitude_control->get_att_target_euler_cd();
mavlink_msg_nav_controller_output_send( mavlink_msg_nav_controller_output_send(
chan, chan,
targets.x / 1.0e2f, targets.x * 1.0e-2f,
targets.y / 1.0e2f, targets.y * 1.0e-2f,
targets.z / 1.0e2f, targets.z * 1.0e-2f,
wp_bearing / 1.0e2f, wp_bearing * 1.0e-2f,
wp_distance / 1.0e2f, MIN(wp_distance * 1.0e-2f, UINT16_MAX),
pos_control->get_alt_error() / 1.0e2f, pos_control->get_alt_error() * 1.0e-2f,
0, 0,
0); 0);
} }