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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-10-16 22:52:08 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-10-16 22:52:08 +0200 |
| commit | 2c023c5d015fc63f7499a3b60751c771ec8a72b1 (patch) | |
| tree | 1eaeead29a0f44b6946026e9798e06e96f328495 /src/modules/mavlink | |
| parent | 17a1c986c2fa7c49197d14c1b1ef0fc494d9e22f (diff) | |
| download | px4-firmware-2c023c5d015fc63f7499a3b60751c771ec8a72b1.tar.gz px4-firmware-2c023c5d015fc63f7499a3b60751c771ec8a72b1.tar.bz2 px4-firmware-2c023c5d015fc63f7499a3b60751c771ec8a72b1.zip | |
mavlink: use altitude AMSL in VFR message
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 11 |
1 files changed, 2 insertions, 9 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index c182cfdb9..a730b6c98 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -778,9 +778,6 @@ private: MavlinkOrbSubscription *_airspeed_sub; uint64_t _airspeed_time; - MavlinkOrbSubscription *_sensor_combined_sub; - uint64_t _sensor_combined_time; - /* do not allow top copying this class */ MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &); MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &); @@ -796,9 +793,7 @@ protected: _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))), _act_time(0), _airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))), - _airspeed_time(0), - _sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))), - _sensor_combined_time(0) + _airspeed_time(0) {} void send(const hrt_abstime t) @@ -808,14 +803,12 @@ protected: struct actuator_armed_s armed; struct actuator_controls_s act; struct airspeed_s airspeed; - struct sensor_combined_s sensor_combined; bool updated = _att_sub->update(&_att_time, &att); updated |= _pos_sub->update(&_pos_time, &pos); updated |= _armed_sub->update(&_armed_time, &armed); updated |= _act_sub->update(&_act_time, &act); updated |= _airspeed_sub->update(&_airspeed_time, &airspeed); - updated |= _sensor_combined_sub->update(&_sensor_combined_time, &sensor_combined); if (updated) { mavlink_vfr_hud_t msg; @@ -824,7 +817,7 @@ 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; + msg.alt = pos.alt; msg.climb = -pos.vel_d; _mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg); |