From 41fac46ff08787d9b2e4d902045d65c205389abd Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 22 Aug 2013 18:05:30 +0200 Subject: mavlink VFR_HUD message fixed, minor fixes and cleanup --- src/modules/mavlink/orb_listener.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'src/modules/mavlink/orb_listener.c') diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 2a260861d..97cf571e5 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -637,12 +637,12 @@ l_airspeed(const struct listener *l) orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed); float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - float throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1); - float alt = global_pos.alt; - float climb = global_pos.vz; + uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f; + uint16_t throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1); + float alt = global_pos.relative_alt; + float climb = -global_pos.vz; - mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, - ((att.yaw + M_PI_F) / M_PI_F) * 180.0f, throttle, alt, climb); + mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, alt, climb); } static void * -- cgit v1.2.3