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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 11:53:33 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 11:53:33 +0200 |
| commit | a40790985dfdea9386c3b8d9ee29629ec56a7bb7 (patch) | |
| tree | a2579ef2e2fab15f31626948b9dfddd9211433fe /src | |
| parent | ccbd5c09316d9f07eeda3c3f6bc07c729dab6c82 (diff) | |
| parent | 3a029926b432d531f8e85ff73c0578750c171d75 (diff) | |
| download | px4-firmware-a40790985dfdea9386c3b8d9ee29629ec56a7bb7.tar.gz px4-firmware-a40790985dfdea9386c3b8d9ee29629ec56a7bb7.tar.bz2 px4-firmware-a40790985dfdea9386c3b8d9ee29629ec56a7bb7.zip | |
Merge pull request #1309 from PX4/vfrhudbaroalt
vfr_hud mavlink msg: use baro alt
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index af4d46a36..5a92004a6 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -774,6 +774,9 @@ 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 &); @@ -789,7 +792,9 @@ 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) + _airspeed_time(0), + _sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))), + _sensor_combined_time(0) {} void send(const hrt_abstime t) @@ -799,12 +804,14 @@ 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; @@ -813,7 +820,7 @@ 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 = pos.alt; + msg.alt = sensor_combined.baro_alt_meter; msg.climb = -pos.vel_d; _mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg); |