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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/sdlog2/sdlog2.c
+2
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@@ -1244,6 +1244,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n;
log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e;
log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
log_msg.body.log_GPOS.baro_alt = buf.global_pos.baro_alt;
log_msg.body.log_GPOS.flags = (buf.global_pos.baro_valid ? 1 : 0) | (buf.global_pos.global_valid ? 2 : 0);
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}