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global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt

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Anton Babushkin
2014-01-28 20:40:05 +01:00
parent 48f1b7e1c7
commit 6a1a29f77e
11 changed files with 69 additions and 34 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -634,7 +634,7 @@ handle_message(mavlink_message_t *msg)
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
// global position packet
hil_global_pos.timestamp = timestamp;
hil_global_pos.valid = true;
hil_global_pos.global_valid = true;
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;