mavlink VFR_HUD message fixed, minor fixes and cleanup

4 files changed, 17 insertions, 17 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 04e6dd2cb..4580c57bc 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -825,9 +825,9 @@ int commander_thread_main(int argc, char *argv[])
 				status.condition_landed = local_position.landed;
 				status_changed = true;
 				if (status.condition_landed) {
-					mavlink_log_info(mavlink_fd, "[cmd] LANDED");
+					mavlink_log_critical(mavlink_fd, "[cmd] LANDED");
 				} else {
-					mavlink_log_info(mavlink_fd, "[cmd] IN AIR");
+					mavlink_log_critical(mavlink_fd, "[cmd] IN AIR");
 				}
 			}
 		}
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 2a260861d..97cf571e5 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -637,12 +637,12 @@ l_airspeed(const struct listener *l)
 	orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed);
 
 	float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
-	float throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1);
-	float alt = global_pos.alt;
-	float climb = global_pos.vz;
+	uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f;
+	uint16_t throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1);
+	float alt = global_pos.relative_alt;
+	float climb = -global_pos.vz;
 
-	mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed,
-		((att.yaw + M_PI_F) / M_PI_F) * 180.0f, throttle, alt, climb);
+	mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, alt, climb);
 }
 
 static void *
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 3466841c4..d35755b4f 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -610,7 +610,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (local_pos.v_xy_valid) {
 				global_pos.vx = local_pos.vx;
 				global_pos.vy = local_pos.vy;
-				global_pos.hdg = atan2f(local_pos.vy, local_pos.vx);
+				global_pos.hdg = atan2f(local_pos.vy, local_pos.vx);	// TODO is it correct?
 			}
 
 			if (local_pos.z_valid) {
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index f036c7223..822c323cf 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -62,17 +62,17 @@
 struct vehicle_global_position_s
 {
 	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
-	uint64_t time_gps_usec; /**< GPS timestamp in microseconds							  */
+	uint64_t time_gps_usec; /**< GPS timestamp in microseconds							   */
 	bool valid;				/**< true if position satisfies validity criteria of estimator */
 
-	int32_t lat;			/**< Latitude in 1E7 degrees							LOGME */
-	int32_t lon;			/**< Longitude in 1E7 degrees							LOGME */
-	float alt;				/**< Altitude in meters									LOGME */
-	float relative_alt;		/**< Altitude above home position in meters, 			LOGME */
-	float vx; 				/**< Ground X Speed (Latitude), m/s in ENU				LOGME */
-	float vy;				/**< Ground Y Speed (Longitude), m/s in ENU				LOGME */
-	float vz;				/**< Ground Z Speed (Altitude), m/s	in ENU				LOGME */
-	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
+	int32_t lat;			/**< Latitude in 1E7 degrees							 	   */
+	int32_t lon;			/**< Longitude in 1E7 degrees							 	   */
+	float alt;				/**< Altitude in meters									 	   */
+	float relative_alt;		/**< Altitude above home position in meters, 				   */
+	float vx; 				/**< Ground X velocity, m/s in NED				 			   */
+	float vy;				/**< Ground Y velocity, m/s in NED							   */
+	float vz;				/**< Ground Z velocity, m/s	in NED 							   */
+	float hdg; 				/**< Compass heading in radians -PI..+PI.					   */
 
 };