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Merge pull request #1309 from PX4/vfrhudbaroalt 

vfr_hud mavlink msg: use baro alt
This commit is contained in:
Lorenz Meier 2014-08-24 11:53:33 +02:00
parent ccbd5c0931 3a029926b4
commit a40790985d
1 changed files with 9 additions and 2 deletions
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11
src/modules/mavlink/mavlink_messages.cpp
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@ -774,6 +774,9 @@ private:
MavlinkOrbSubscription *_airspeed_sub;
uint64_t _airspeed_time;
MavlinkOrbSubscription *_sensor_combined_sub;
uint64_t _sensor_combined_time;
/* do not allow top copying this class */
MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
@ -789,7 +792,9 @@ protected:
_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))),
_act_time(0),
_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
_airspeed_time(0)
_airspeed_time(0),
_sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
_sensor_combined_time(0)
{}
void send(const hrt_abstime t)
@ -799,12 +804,14 @@ protected:
struct actuator_armed_s armed;
struct actuator_controls_s act;
struct airspeed_s airspeed;
struct sensor_combined_s sensor_combined;
bool updated = _att_sub->update(&_att_time, &att);
updated |= _pos_sub->update(&_pos_time, &pos);
updated |= _armed_sub->update(&_armed_time, &armed);
updated |= _act_sub->update(&_act_time, &act);
updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
updated |= _sensor_combined_sub->update(&_sensor_combined_time, &sensor_combined);
if (updated) {
mavlink_vfr_hud_t msg;
@ -813,7 +820,7 @@ protected:
msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
msg.alt = pos.alt;
msg.alt = sensor_combined.baro_alt_meter;
msg.climb = -pos.vel_d;
_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);