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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-13 23:14:05 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-13 23:14:05 +0400 |
| commit | cfaf0ada45a9b99a83221c6c51a50090c55a1483 (patch) | |
| tree | 4c3ddabf889469ee08556673d2340e893069c713 /src | |
| parent | 2116966b1e481c20eee3fe95f1d8d9671fafc1f2 (diff) | |
| download | px4-firmware-cfaf0ada45a9b99a83221c6c51a50090c55a1483.tar.gz px4-firmware-cfaf0ada45a9b99a83221c6c51a50090c55a1483.tar.bz2 px4-firmware-cfaf0ada45a9b99a83221c6c51a50090c55a1483.zip | |
Heading in VFR message fixed
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index abc91d34f..2804a8191 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -54,6 +54,7 @@ #include <sys/prctl.h> #include <stdlib.h> #include <poll.h> +#include <lib/geo/geo.h> #include <mavlink/mavlink_log.h> @@ -248,7 +249,7 @@ l_vehicle_attitude(const struct listener *l) if (t >= last_sent_vfr + 100000) { last_sent_vfr = t; float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f; + uint16_t heading = _wrap_2pi(att.yaw) / M_PI_F * 180.0f; float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1); mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz); } |