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SITL: update units for new adsb mavlink msg

mission-4.1.18
Tom Pittenger 9 years ago committed by Andrew Tridgell
parent
87fccce9e2
commit
37054d9571
1 changed files with 4 additions and 4 deletions
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  1. 8
      libraries/SITL/SIM_ADSB.cpp

8
libraries/SITL/SIM_ADSB.cpp
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@ -173,10 +173,10 @@ void ADSB::send_report(void)
adsb_vehicle.lat = loc.lat; adsb_vehicle.lat = loc.lat;
adsb_vehicle.lon = loc.lng; adsb_vehicle.lon = loc.lng;
adsb_vehicle.altitude_type = ADSB_ALTITUDE_TYPE_PRESSURE_QNH; 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.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.hor_velocity = pythagorous2(vehicle.velocity_ef.x, vehicle.velocity_ef.y) * 100;
adsb_vehicle.ver_velocity = -vehicle.velocity_ef.z; adsb_vehicle.ver_velocity = -vehicle.velocity_ef.z * 100;
memcpy(adsb_vehicle.callsign, vehicle.callsign, sizeof(adsb_vehicle.callsign)); memcpy(adsb_vehicle.callsign, vehicle.callsign, sizeof(adsb_vehicle.callsign));
adsb_vehicle.emitter_type = ADSB_EMITTER_TYPE_LARGE; adsb_vehicle.emitter_type = ADSB_EMITTER_TYPE_LARGE;
adsb_vehicle.tslc = 1; adsb_vehicle.tslc = 1;
@ -187,7 +187,7 @@ void ADSB::send_report(void)
ADSB_FLAGS_VALID_VELOCITY | ADSB_FLAGS_VALID_VELOCITY |
ADSB_FLAGS_VALID_CALLSIGN | ADSB_FLAGS_VALID_CALLSIGN |
ADSB_FLAGS_SIMULATED; 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); mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
uint8_t saved_seq = chan0_status->current_tx_seq; uint8_t saved_seq = chan0_status->current_tx_seq;

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