static void send_att_indi(struct transport_tx *trans, struct link_device *dev) { //The estimated G values are scaled, so scale them back before sending struct FloatRates g_est_disp; RATES_SMUL(g_est_disp, g_est, INDI_EST_SCALE); float g2_est_disp = g2_est * INDI_EST_SCALE; pprz_msg_send_STAB_ATTITUDE_INDI(trans, dev, AC_ID, &indi.filtered_rate_deriv.p, &indi.filtered_rate_deriv.q, &indi.filtered_rate_deriv.r, &indi.angular_accel_ref.p, &indi.angular_accel_ref.q, &indi.angular_accel_ref.r, &g_est_disp.p, &g_est_disp.q, &g_est_disp.r, &g2_est_disp); }
static void send_att_indi(struct transport_tx *trans, struct link_device *dev) { //The estimated G values are scaled, so scale them back before sending struct FloatRates g1_disp; RATES_SMUL(g1_disp, indi.est.g1, INDI_EST_SCALE); float g2_disp = indi.est.g2 * INDI_EST_SCALE; pprz_msg_send_STAB_ATTITUDE_INDI(trans, dev, AC_ID, &indi.rate.dx.p, &indi.rate.dx.q, &indi.rate.dx.r, &indi.angular_accel_ref.p, &indi.angular_accel_ref.q, &indi.angular_accel_ref.r, &g1_disp.p, &g1_disp.q, &g1_disp.r, &g2_disp); }