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mavlink VFR_HUD message fixed, minor fixes and cleanup

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Anton Babushkin
2013-08-22 18:05:30 +02:00
parent bb91484b26
commit 41fac46ff0
4 changed files with 17 additions and 17 deletions
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src/modules/mavlink/orb_listener.c
+5 -5
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@@ -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 *