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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-27 00:27:11 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-27 00:27:11 +0400 |
| commit | 83da4ae02dfc61d6a7f80ae40660826fbbca81be (patch) | |
| tree | 22a932c0da0ea382bad423a6c47551cd2db7bef9 /src/modules/mavlink | |
| parent | e2305d93bd52fb86fde24fb331552483bb25dd7b (diff) | |
| download | px4-firmware-83da4ae02dfc61d6a7f80ae40660826fbbca81be.tar.gz px4-firmware-83da4ae02dfc61d6a7f80ae40660826fbbca81be.tar.bz2 px4-firmware-83da4ae02dfc61d6a7f80ae40660826fbbca81be.zip | |
'vehicle_global_position' topic updated: removed baro_alt and XXX_valid flags.
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 6eec25e4b..2c9cdbf24 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -765,7 +765,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) memset(&hil_global_pos, 0, sizeof(hil_global_pos)); hil_global_pos.timestamp = timestamp; - hil_global_pos.global_valid = true; hil_global_pos.lat = hil_state.lat; hil_global_pos.lon = hil_state.lon; hil_global_pos.alt = hil_state.alt / 1000.0f; @@ -773,6 +772,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) hil_global_pos.vel_e = hil_state.vy / 100.0f; hil_global_pos.vel_d = hil_state.vz / 100.0f; hil_global_pos.yaw = hil_attitude.yaw; + hil_global_pos.eph = 2.0f; + hil_global_pos.epv = 4.0f; if (_global_pos_pub > 0) { orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos); |