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Fix altitude estimate

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Lorenz Meier
2016-05-11 10:02:03 +02:00
parent 097840ef83
commit 34baf01d7e
1 changed files with 8 additions and 6 deletions
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src/modules/mavlink/mavlink_messages.cpp
+8 -6
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@@ -2890,17 +2890,19 @@ protected:
msg.time_usec = hrt_absolute_time();
msg.altitude_monotonic = (_sensor_time > 0) ? sensor.baro_alt_meter[0] : 0.0f / 0.0f;
msg.altitude_amsl = (_global_pos_time > 0) ? global_pos.alt : 0.0f / 0.0f;
msg.altitude_local = (_local_pos_time > 0) ? -local_pos.z : 0.0f / 0.0f;
msg.altitude_relative = (_home_time > 0) ? home.alt : 0.0f / 0.0f;
static constexpr float NAN_VAL = 0.0f / 0.0f;
msg.altitude_monotonic = (_sensor_time > 0) ? sensor.baro_alt_meter[0] : NAN_VAL;
msg.altitude_amsl = (_global_pos_time > 0) ? global_pos.alt : NAN_VAL;
msg.altitude_local = (_local_pos_time > 0) ? -local_pos.z : NAN_VAL;
msg.altitude_relative = (_home_time > 0) ? (global_pos.alt - home.alt) : NAN_VAL;
if (global_pos.terrain_alt_valid) {
msg.altitude_terrain = global_pos.terrain_alt;
msg.bottom_clearance = global_pos.alt - global_pos.terrain_alt;
} else {
msg.altitude_terrain = 0.0f / 0.0f;
msg.bottom_clearance = 0.0f / 0.0f;
msg.altitude_terrain = NAN_VAL;
msg.bottom_clearance = NAN_VAL;
}
_mavlink->send_message(MAVLINK_MSG_ID_ALTITUDE, &msg);