C++ (Cpp) mavlink_msg_ahrs2_send Examples

Example #1

File: GCS_Common.cpp Project: VirtualRobotixItalia/ardupilot

// report AHRS2 state
void GCS_MAVLINK::send_ahrs2(AP_AHRS &ahrs)
{
#if AP_AHRS_NAVEKF_AVAILABLE
    Vector3f euler;
    struct Location loc {};
    if (ahrs.get_secondary_attitude(euler)) {
        mavlink_msg_ahrs2_send(chan,
                               euler.x,
                               euler.y,
                               euler.z,
                               loc.alt*1.0e-2f,
                               loc.lat,
                               loc.lng);
    }
    AP_AHRS_NavEKF &_ahrs = reinterpret_cast<AP_AHRS_NavEKF&>(ahrs);
    if (_ahrs.get_NavEKF2().activeCores() > 0) {
        _ahrs.get_NavEKF2().getLLH(loc);
        _ahrs.get_NavEKF2().getEulerAngles(-1,euler);
        mavlink_msg_ahrs3_send(chan,
                               euler.x,
                               euler.y,
                               euler.z,
                               loc.alt*1.0e-2f,
                               loc.lat,
                               loc.lng,
                               0, 0, 0, 0);
    }
#endif
}

Example #2

File: GCS_Common.cpp Project: AdiKulkarni/ardupilot

// report AHRS2 state
void GCS_MAVLINK::send_ahrs2(AP_AHRS &ahrs)
{
#if AP_AHRS_NAVEKF_AVAILABLE
    Vector3f euler;
    struct Location loc;
    if (ahrs.get_secondary_attitude(euler) && ahrs.get_secondary_position(loc)) {
        mavlink_msg_ahrs2_send(chan,
                               euler.x,
                               euler.y,
                               euler.z,
                               loc.alt*1.0e-2f,
                               loc.lat,
                               loc.lng);
    }
#endif
}