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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 09:35:58 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 09:35:58 +0200 |
| commit | 2a5fcd917428fa6e549214f8066690672b453af0 (patch) | |
| tree | 82dc2b45a75acd17a13a45831b319bef8e658a06 /apps/mavlink/mavlink.c | |
| parent | dcf71d5f69e11335d91d749d740a0c9fafb05586 (diff) | |
| download | px4-firmware-2a5fcd917428fa6e549214f8066690672b453af0.tar.gz px4-firmware-2a5fcd917428fa6e549214f8066690672b453af0.tar.bz2 px4-firmware-2a5fcd917428fa6e549214f8066690672b453af0.zip | |
Fixed incorrect scaling of acceleration values
Diffstat (limited to 'apps/mavlink/mavlink.c')
| -rw-r--r-- | apps/mavlink/mavlink.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index cbea7822e..b6fdc1a3e 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -635,8 +635,8 @@ static void *uorb_receiveloop(void *arg) /* send raw imu data */ mavlink_msg_raw_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_raw[0], buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0], buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0], buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]); - /* send scaled imu data */ - mavlink_msg_scaled_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_m_s2[0] * 9810, buf.raw.accelerometer_m_s2[1] * 9810, buf.raw.accelerometer_m_s2[2] * 9810, buf.raw.gyro_rad_s[0] * 1000, buf.raw.gyro_rad_s[1] * 1000, buf.raw.gyro_rad_s[2] * 1000, buf.raw.magnetometer_ga[0] * 1000, buf.raw.magnetometer_ga[1] * 1000, buf.raw.magnetometer_ga[2] * 1000); + /* send scaled imu data (m/s^2 accelerations scaled back to milli-g) */ + mavlink_msg_scaled_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_m_s2[0] * 101.936799f, buf.raw.accelerometer_m_s2[1] * 101.936799f, buf.raw.accelerometer_m_s2[2] * 101.936799f, buf.raw.gyro_rad_s[0] * 1000, buf.raw.gyro_rad_s[1] * 1000, buf.raw.gyro_rad_s[2] * 1000, buf.raw.magnetometer_ga[0] * 1000, buf.raw.magnetometer_ga[1] * 1000, buf.raw.magnetometer_ga[2] * 1000); /* send pressure */ mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, buf.raw.timestamp / 1000, buf.raw.baro_pres_mbar, buf.raw.baro_alt_meter, buf.raw.baro_temp_celcius * 100); |