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Improvements to lpe for flow and gps. (#5401)

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This commit is contained in:
James Goppert
2016-08-27 23:50:24 -04:00
committed by GitHub
parent be1417f613
commit 6b08e8ce1f
6 changed files with 94 additions and 20 deletions
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src/modules/mavlink/mavlink_messages.cpp
+22 -1
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@@ -3158,12 +3158,33 @@ protected:
struct vehicle_local_position_s local_pos;
updated |= _local_pos_sub->update(&_local_pos_time, &local_pos);
msg.altitude_local = (_local_pos_time > 0) ? -local_pos.z : NAN;
// publish this data if global isn't publishing
if (_global_pos_time == 0) {
if (local_pos.dist_bottom_valid) {
msg.bottom_clearance = local_pos.dist_bottom;
msg.altitude_terrain = msg.altitude_local - msg.bottom_clearance;
} else {
msg.bottom_clearance = NAN;
msg.altitude_terrain = NAN;
}
}
}
{
struct home_position_s home;
updated |= _home_sub->update(&_home_time, &home);
msg.altitude_relative = (_home_time > 0) ? (global_alt - home.alt) : NAN;
if (_global_pos_time > 0 and _home_time > 0) {
msg.altitude_relative = global_alt - home.alt;
} else if (_local_pos_time > 0 and _home_time > 0) {
msg.altitude_relative = msg.altitude_local;
} else {
msg.altitude_relative = NAN;
}
}
if (updated) {