diff options
| author | tstellanova <tstellanova+github@gmail.com> | 2014-10-03 17:18:44 -0700 |
|---|---|---|
| committer | tstellanova <tstellanova+github@gmail.com> | 2014-10-03 17:18:44 -0700 |
| commit | 5846f217d0e09ee4c1c64c0ebf0f2e621a14fa69 (patch) | |
| tree | 464f2585e4815713a9161c514222579723873c59 /src/modules/mavlink | |
| parent | 47f151d4cefa5d7a9da34d6139aa493259f8b2fd (diff) | |
| download | px4-firmware-5846f217d0e09ee4c1c64c0ebf0f2e621a14fa69.tar.gz px4-firmware-5846f217d0e09ee4c1c64c0ebf0f2e621a14fa69.tar.bz2 px4-firmware-5846f217d0e09ee4c1c64c0ebf0f2e621a14fa69.zip | |
Use global position altitude to report HUD altitude, for consistency.
Otherwise the HUD altitude jumps between two very different values.
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a2f3828ff..941b45d88 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -820,7 +820,11 @@ protected: msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e); msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F; msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f; - msg.alt = sensor_combined.baro_alt_meter; + /* + Do not use sensor_combined.baro_alt_meter here because + it is mismatched with WSG84 AMSL used elsewhere for reporting altitude. + */ + msg.alt = pos.alt; msg.climb = -pos.vel_d; _mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg); |