C++ (Cpp) mavlink_msg_camera_feedback_send 예제들

예제 #1

파일: AP_Camera.cpp 프로젝트: 54dashayu/ardupilot

/*
  Send camera feedback to the GCS
 */
void AP_Camera::send_feedback(mavlink_channel_t chan, AP_GPS &gps, const AP_AHRS &ahrs, const Location &current_loc)
{
    float altitude, altitude_rel;
    if (current_loc.flags.relative_alt) {
        altitude = current_loc.alt+ahrs.get_home().alt;
        altitude_rel = current_loc.alt;
    } else {
        altitude = current_loc.alt;
        altitude_rel = current_loc.alt - ahrs.get_home().alt;
    }

    mavlink_msg_camera_feedback_send(chan, 
        gps.time_epoch_usec(),
        0, 0, _image_index,
        current_loc.lat, current_loc.lng,
        altitude/100.0f, altitude_rel/100.0f,
        ahrs.roll_sensor/100.0f, ahrs.pitch_sensor/100.0f, ahrs.yaw_sensor/100.0f,
        0.0f,CAMERA_FEEDBACK_PHOTO);
}

예제 #2

파일: AP_Camera.cpp 프로젝트: Coonat2/ardupilot

/*
  Send camera feedback to the GCS
 */
void AP_Camera::send_feedback(mavlink_channel_t chan)
{
    float altitude, altitude_rel;
    if (current_loc.flags.relative_alt) {
        altitude = current_loc.alt+ahrs.get_home().alt;
        altitude_rel = current_loc.alt;
    } else {
        altitude = current_loc.alt;
        altitude_rel = current_loc.alt - ahrs.get_home().alt;
    }

    mavlink_msg_camera_feedback_send(
        chan,
        AP::gps().time_epoch_usec(),
        0, 0, _image_index,
        current_loc.lat, current_loc.lng,
        altitude*1e-2f, altitude_rel*1e-2f,
        ahrs.roll_sensor*1e-2f, ahrs.pitch_sensor*1e-2f, ahrs.yaw_sensor*1e-2f,
        0.0f, CAMERA_FEEDBACK_PHOTO, _feedback_events);
}