From 922338e98261321b7439a0d5674c37ce7ec0c667 Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Sun, 6 May 2012 10:59:17 +0800
Subject: [PATCH] AP - fix attitude level hil mavlink 1.0 issue
---
ArduPlane/GCS_Mavlink.pde | 2 +-
ArduPlane/Parameters.pde | 3 ---
2 files changed, 1 insertion(+), 4 deletions(-)
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index c1313c37b..8076e925e 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1955,7 +1955,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
- float vel = sqrt((packet.vx * packet.vx) + (packet.vy * packet.vy));
+ float vel = sqrt((packet.vx * (float)packet.vx) + (packet.vy * (float)packet.vy));
float cog = wrap_360(ToDeg(atan2(packet.vx, packet.vy)) * 100);
// set gps hil sensor
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index c7ff129f4..6bb4ea37a 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -29,7 +29,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Param: KFF_PTCHCOMP
// @DisplayName: Pitch Compensation
// @Description: Adds pitch input to compensate for the loss of lift due to roll control.
- // @Units: Percent
// @Range: 0 1
// @Increment: 0.1
// @User: Advanced
@@ -38,7 +37,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Param: KFF_RDDRMIX
// @DisplayName: Rudder Mix
// @Description: The ammount of rudder mix to apply during aileron movement
- // @Units: Percent
// @Range: 0 1
// @Increment: 0.1
// @User: Standard
@@ -70,7 +68,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Param: XTRK_GAIN_SC
// @DisplayName: Crosstrack Gain
// @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100)
- // @Units: Degrees
// @Range: 0 2000
// @Increment: 1
// @User: Standard
--
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