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ArduPlane: Fix units + add suffix for high_latency_tgt_dist

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This commit is contained in:
Hunter McClelland
2026-05-23 18:38:13 +10:00
committed by Peter Barker
parent 12c62328a5
commit bc3bb2637e
2 changed files with 4 additions and 5 deletions
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ArduPlane/GCS_MAVLink_Plane.cpp
+3 -4
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@@ -1206,18 +1206,17 @@ uint8_t GCS_MAVLINK_Plane::high_latency_tgt_heading() const
return wrap_360_cd(nav_controller->target_bearing_cd() ) / 200;
}
// return units are dm
uint16_t GCS_MAVLINK_Plane::high_latency_tgt_dist() const
uint16_t GCS_MAVLINK_Plane::high_latency_tgt_dist_dam() const
{
#if HAL_QUADPLANE_ENABLED
const QuadPlane &quadplane = plane.quadplane;
if (quadplane.show_vtol_view()) {
bool wp_nav_valid = quadplane.using_wp_nav();
return (wp_nav_valid ? MIN(quadplane.wp_nav->get_wp_distance_to_destination_cm(), UINT16_MAX) : 0) / 10;
return (wp_nav_valid ? MIN(static_cast<uint16_t>(quadplane.wp_nav->get_wp_distance_to_destination_cm() * 1e-3), UINT16_MAX) : 0);
}
#endif
return MIN(plane.auto_state.wp_distance, UINT16_MAX) / 10;
return MIN(static_cast<uint16_t>(plane.auto_state.wp_distance * 0.1), UINT16_MAX);
}
uint8_t GCS_MAVLINK_Plane::high_latency_tgt_airspeed() const
ArduPlane/GCS_MAVLink_Plane.h
+1 -1
View File
@@ -89,7 +89,7 @@ private:
#if HAL_HIGH_LATENCY2_ENABLED
int16_t high_latency_target_altitude() const override;
uint8_t high_latency_tgt_heading() const override;
uint16_t high_latency_tgt_dist() const override;
uint16_t high_latency_tgt_dist_dam() const override;
uint8_t high_latency_tgt_airspeed() const override;
uint8_t high_latency_wind_speed() const override;
uint8_t high_latency_wind_direction() const override;