Fixed angle of avoidance and message

paparazzi · Sep 14, 2016 · 246e66d · 246e66d
1 parent 15f91c5
commit 246e66d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/sw/airborne/modules/sensors/kalamos_uart.c b/sw/airborne/modules/sensors/kalamos_uart.c
@@ -139,7 +139,7 @@ static inline void kalamos_parse_msg(void)
       land_cmd.z = -k2p_package.descend_z * kalamos_land_z_gain;
 
       float psi = stateGetNedToBodyEulers_f()->psi;
-      float heading_to_go = psi + k2p_package.avoid_psi + M_PI_2;
+      float heading_to_go = psi + k2p_package.avoid_psi + M_PI;
       FLOAT_ANGLE_NORMALIZE(heading_to_go);
 
       struct EnuCoor_f target;
@@ -220,7 +220,7 @@ if (kalamos_enable_opticflow)
   // Send Telemetry report
   char hoertje = k2p_package.status;
   hoertje+=48; //fuck you pprz
-  DOWNLINK_SEND_KALAMOS(DefaultChannel, DefaultDevice, &hoertje, &k2p_package.height,&k2p_package.descend_x,&k2p_package.descend_y,&k2p_package.descend_z,&k2p_package.joe_enu_x,&k2p_package.joe_enu_y,&k2p_package.land_enu_x,&k2p_package.land_enu_y,&k2p_package.flow_x,&k2p_package.flow_y);
+  DOWNLINK_SEND_KALAMOS(DefaultChannel, DefaultDevice, &hoertje, &k2p_package.height,&k2p_package.avoid_psi,&k2p_package.avoid_rate,&k2p_package.descend_z,&k2p_package.joe_enu_x,&k2p_package.joe_enu_y,&k2p_package.land_enu_x,&k2p_package.land_enu_y,&k2p_package.flow_x,&k2p_package.flow_y);
 
 
   pprz_msg_send_IMCU_DEBUG(&(kalamos.transport.trans_tx), kalamos.device,