Copter: added Sonar Voltage reporting to GCS mavlink

Rangefinder class will return 0 if not applicable.
11 years ago · 13563f4344
1 changed files with 4 additions and 1 deletions
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@ -406,7 +406,10 @@ static void NOINLINE send_rangefinder(mavlink_channel_t chan)
				@@ -406,7 +406,10 @@ static void NOINLINE send_rangefinder(mavlink_channel_t chan)
    if (!sonar.healthy()) {
        return;
    }
-    mavlink_msg_rangefinder_send(chan, sonar_alt * 0.01f, 0);
+    mavlink_msg_rangefinder_send(
+            chan,
+            sonar_alt * 0.01f,
+            sonar.voltage_mv() * 0.001f);
 }
 #endif