dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Fixed bug in MAVLink HIL interface, now consistent with in-flight results in the field

This commit is contained in:
Lorenz Meier 2013-04-22 14:39:49 +02:00
parent 82d2ab677e
commit a817dedf11
1 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
apps/mavlink/mavlink_receiver.c
View File

@ -485,13 +485,17 @@ handle_message(mavlink_message_t *msg)
// hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance?
hil_gps.p_variance_m = 100; // XXX 100 m variance?
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
/* gps.cog is in degrees 0..360 * 100, heading is -PI..PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f - M_PI_F;
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
hil_gps.vel_d_m_s = 0.0f;
hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad
/* COG (course over ground) is speced as 0..360 degrees (compass) */
hil_gps.cog_rad = cog_rad + M_PI_F; // from deg*100 to rad
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_visible = gps.satellites_visible;