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stop manually defining physical constants

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This commit is contained in:
Daniel Agar
2018-04-19 07:24:58 +02:00
committed by Lorenz Meier
parent 7538ea44e3
commit d75fd72c02
27 changed files with 66 additions and 84 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -5
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@@ -90,8 +90,6 @@
#include "mavlink_main.h"
#include "mavlink_command_sender.h"
static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
_mission_manager(nullptr),
@@ -1922,9 +1920,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
struct accel_report accel = {};
accel.timestamp = timestamp;
accel.x_raw = imu.xacc / mg2ms2;
accel.y_raw = imu.yacc / mg2ms2;
accel.z_raw = imu.zacc / mg2ms2;
accel.x_raw = imu.xacc / (CONSTANTS_ONE_G / 1000.0f);
accel.y_raw = imu.yacc / (CONSTANTS_ONE_G / 1000.0f);
accel.z_raw = imu.zacc / (CONSTANTS_ONE_G / 1000.0f);
accel.x = imu.xacc;
accel.y = imu.yacc;
accel.z = imu.zacc;