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Revert "Heading in VFR message fixed"

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This reverts commit cfaf0ada45.
This commit is contained in:
Anton Babushkin
2013-11-14 11:59:18 +04:00
parent e7f4d91022
commit c31d065340
1 changed files with 1 additions and 2 deletions
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src/modules/mavlink/orb_listener.c
+1 -2
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@@ -54,7 +54,6 @@
#include <sys/prctl.h> #include <sys/prctl.h>
#include <stdlib.h> #include <stdlib.h>
#include <poll.h> #include <poll.h>
#include <lib/geo/geo.h>
#include <mavlink/mavlink_log.h> #include <mavlink/mavlink_log.h>
@@ -249,7 +248,7 @@ l_vehicle_attitude(const struct listener *l)
if (t >= last_sent_vfr + 100000) { if (t >= last_sent_vfr + 100000) {
last_sent_vfr = t; last_sent_vfr = t;
float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
uint16_t heading = _wrap_2pi(att.yaw) / M_PI_F * 180.0f; uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f;
float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1); float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1);
mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz); mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
} }