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| author | Julian Oes <joes@student.ethz.ch> | 2013-02-06 12:41:05 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-02-06 12:41:05 -0800 |
| commit | fc4be3e7280db480b67b7c6cec11e35481969bbb (patch) | |
| tree | 90f760ad4022a3ad568a815e3a89e29cd4e47d48 /apps/mavlink/orb_listener.c | |
| parent | a79ad17f09ac69bf2a19a4f617fa1df16bcaa6be (diff) | |
| download | px4-firmware-fc4be3e7280db480b67b7c6cec11e35481969bbb.tar.gz px4-firmware-fc4be3e7280db480b67b7c6cec11e35481969bbb.tar.bz2 px4-firmware-fc4be3e7280db480b67b7c6cec11e35481969bbb.zip | |
Changed gps position topic mostly to SI units and float, removed counters and added specifig timestamps
Diffstat (limited to 'apps/mavlink/orb_listener.c')
| -rw-r--r-- | apps/mavlink/orb_listener.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 18da70f61..9f85d5801 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l) /* GPS position */ mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, - gps.timestamp, + gps.timestamp_position, gps.fix_type, gps.lat, gps.lon, gps.alt, - gps.eph, - gps.epv, - gps.vel, - gps.cog, + (uint16_t)(gps.eph_m * 1e2f), // from m to cm + (uint16_t)(gps.epv_m * 1e2f), // from m to cm + (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s + (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100 gps.satellites_visible); if (gps.satellite_info_available && (gps_counter % 4 == 0)) { |