diff options
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 5 | ||||
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 2 |
2 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 5b2fa392d..33ac14860 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -416,7 +416,8 @@ handle_message(mavlink_message_t *msg) airspeed.timestamp = hrt_absolute_time(); float ias = calc_indicated_airspeed(imu.diff_pressure); - float tas = calc_true_airspeed_from_indicated(ias, imu.abs_pressure, imu.temperature); + // XXX need to fix this + float tas = ias; airspeed.indicated_airspeed_m_s = ias; airspeed.true_airspeed_m_s = tas; @@ -426,7 +427,7 @@ handle_message(mavlink_message_t *msg) } else { orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); } - warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); + //warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); /* publish */ if (pub_hil_sensors > 0) { diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 7c5441842..0597555ab 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -196,7 +196,7 @@ l_sensor_combined(const struct listener *l) raw.gyro_rad_s[1], raw.gyro_rad_s[2], raw.magnetometer_ga[0], raw.magnetometer_ga[1], raw.magnetometer_ga[2], - raw.baro_pres_mbar, 0 /* no diff pressure yet */, + raw.baro_pres_mbar, raw.differential_pressure_pa, raw.baro_alt_meter, raw.baro_temp_celcius, fields_updated); |