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Rover: nav-controller-output msg sends roll as zero and pitch for balance bot

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This commit is contained in:
Randy Mackay 2018-12-11 22:32:14 +09:00
parent 7a6e212da9
commit 2b97e496ff
1 changed files with 2 additions and 2 deletions
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4
APMrover2/GCS_Mavlink.cpp
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@ -105,8 +105,8 @@ void Rover::send_nav_controller_output(mavlink_channel_t chan)
{
mavlink_msg_nav_controller_output_send(
chan,
g2.attitude_control.get_desired_lat_accel(),
ahrs.groundspeed() * ins.get_gyro().z, // use nav_pitch to hold actual Y accel
0, // roll
degrees(g2.attitude_control.get_desired_pitch()),
nav_controller->nav_bearing_cd() * 0.01f,
nav_controller->target_bearing_cd() * 0.01f,
MIN(control_mode->get_distance_to_destination(), UINT16_MAX),