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AP - fix attitude level hil mavlink 1.0 issue

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This commit is contained in:
Michael Oborne 2012-05-06 10:59:17 +08:00
parent 67221a111e
commit 218e70cd8b
2 changed files with 1 additions and 4 deletions
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2
ArduPlane/GCS_Mavlink.pde
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@ -1955,7 +1955,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_hil_state_t packet; mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet); mavlink_msg_hil_state_decode(msg, &packet);
float vel = sqrt((packet.vx * packet.vx) + (packet.vy * packet.vy)); float vel = sqrt((packet.vx * (float)packet.vx) + (packet.vy * (float)packet.vy));
float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100); float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100);
// set gps hil sensor // set gps hil sensor

3
ArduPlane/Parameters.pde
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@ -29,7 +29,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Param: KFF_PTCHCOMP // @Param: KFF_PTCHCOMP
// @DisplayName: Pitch Compensation // @DisplayName: Pitch Compensation
// @Description: Adds pitch input to compensate for the loss of lift due to roll control. // @Description: Adds pitch input to compensate for the loss of lift due to roll control.
// @Units: Percent
// @Range: 0 1 // @Range: 0 1
// @Increment: 0.1 // @Increment: 0.1
// @User: Advanced // @User: Advanced
@ -38,7 +37,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Param: KFF_RDDRMIX // @Param: KFF_RDDRMIX
// @DisplayName: Rudder Mix // @DisplayName: Rudder Mix
// @Description: The ammount of rudder mix to apply during aileron movement // @Description: The ammount of rudder mix to apply during aileron movement
// @Units: Percent
// @Range: 0 1 // @Range: 0 1
// @Increment: 0.1 // @Increment: 0.1
// @User: Standard // @User: Standard
@ -70,7 +68,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Param: XTRK_GAIN_SC // @Param: XTRK_GAIN_SC
// @DisplayName: Crosstrack Gain // @DisplayName: Crosstrack Gain
// @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100) // @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100)
// @Units: Degrees
// @Range: 0 2000 // @Range: 0 2000
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard