diff --git a/libraries/SITL/SIM_ADSB.cpp b/libraries/SITL/SIM_ADSB.cpp index 2695c138ad..f70891f474 100644 --- a/libraries/SITL/SIM_ADSB.cpp +++ b/libraries/SITL/SIM_ADSB.cpp @@ -173,10 +173,10 @@ void ADSB::send_report(void) adsb_vehicle.lat = loc.lat; adsb_vehicle.lon = loc.lng; adsb_vehicle.altitude_type = ADSB_ALTITUDE_TYPE_PRESSURE_QNH; - adsb_vehicle.altitude = -vehicle.position.z; + adsb_vehicle.altitude = -vehicle.position.z * 1000; adsb_vehicle.heading = wrap_360_cd(100*degrees(atan2f(vehicle.velocity_ef.y, vehicle.velocity_ef.x))) / 100; - adsb_vehicle.hor_velocity = pythagorous2(vehicle.velocity_ef.x, vehicle.velocity_ef.y); - adsb_vehicle.ver_velocity = -vehicle.velocity_ef.z; + adsb_vehicle.hor_velocity = pythagorous2(vehicle.velocity_ef.x, vehicle.velocity_ef.y) * 100; + adsb_vehicle.ver_velocity = -vehicle.velocity_ef.z * 100; memcpy(adsb_vehicle.callsign, vehicle.callsign, sizeof(adsb_vehicle.callsign)); adsb_vehicle.emitter_type = ADSB_EMITTER_TYPE_LARGE; adsb_vehicle.tslc = 1; @@ -187,7 +187,7 @@ void ADSB::send_report(void) ADSB_FLAGS_VALID_VELOCITY | ADSB_FLAGS_VALID_CALLSIGN | ADSB_FLAGS_SIMULATED; - adsb_vehicle.squawk = 0; // NOTE: ADSB_FLAGS_VALID_SQUAWK is not set + adsb_vehicle.squawk = 0; // NOTE: ADSB_FLAGS_VALID_SQUAWK bit is not set mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0); uint8_t saved_seq = chan0_status->current_tx_seq;