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

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This commit is contained in:
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/navigator/navigator_main.cpp
+3 -2
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@@ -840,6 +840,7 @@ Navigator::task_main()
/* publish position setpoint triplet if updated */
if (_pos_sp_triplet_updated) {
_pos_sp_triplet_updated = false;
publish_position_setpoint_triplet();
}
@@ -882,9 +883,9 @@ Navigator::start()
void
Navigator::status()
{
warnx("Global position is %svalid", _global_pos.valid ? "" : "in");
warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in");
if (_global_pos.valid) {
if (_global_pos.global_valid) {
warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
(double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));