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Merge pull request #1376 from tstellanova/hud_alt_reporting

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Use global position altitude to report HUD altitude, for consistency.
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Lorenz Meier
2014-10-04 11:51:28 +02:00
parent 47f151d4ce 5846f217d0
commit ea269dbbbe
1 changed files with 5 additions and 1 deletions
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src/modules/mavlink/mavlink_messages.cpp
+5 -1
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@@ -820,7 +820,11 @@ protected:
msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
msg.alt = sensor_combined.baro_alt_meter;
/*
Do not use sensor_combined.baro_alt_meter here because
it is mismatched with WSG84 AMSL used elsewhere for reporting altitude.
*/
msg.alt = pos.alt;
msg.climb = -pos.vel_d;
_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);