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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-22 18:05:30 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-22 18:05:30 +0200 |
| commit | 41fac46ff08787d9b2e4d902045d65c205389abd (patch) | |
| tree | 0a534e17650b591382d645ba61ea744fad547e2a /src/modules/mavlink/orb_listener.c | |
| parent | bb91484b2648800923a135be28924119a1382ba6 (diff) | |
| download | px4-firmware-41fac46ff08787d9b2e4d902045d65c205389abd.tar.gz px4-firmware-41fac46ff08787d9b2e4d902045d65c205389abd.tar.bz2 px4-firmware-41fac46ff08787d9b2e4d902045d65c205389abd.zip | |
mavlink VFR_HUD message fixed, minor fixes and cleanup
Diffstat (limited to 'src/modules/mavlink/orb_listener.c')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 10 |
1 files changed, 5 insertions, 5 deletions
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 * |