[modules] digital_cam: replace course by psi in DC_SHOT

paparazzi · Dec 3, 2014 · 5a3a4e2 · 5a3a4e2
1 parent e9a87ab
commit 5a3a4e2
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -913,7 +913,7 @@
     <field name="alt" type="int32" unit="mm" alt_unit="m"/>
     <field name="phi" type="int16" unit="decideg"/>
     <field name="theta" type="int16" unit="decideg"/>
-    <field name="course" type="int16" unit="decideg"/>
+    <field name="psi" type="int16" unit="decideg"/>
     <field name="speed"  type="uint16" unit="cm/s"/>
     <field name="itow"  type="uint32" unit="ms"/>
   </message>

diff --git a/sw/airborne/modules/digital_cam/dc.c b/sw/airborne/modules/digital_cam/dc.c
@@ -94,10 +94,10 @@ uint16_t dc_photo_nr = 0;
 
 void dc_send_shot_position(void)
 {
+  // angles in decideg
   int16_t phi = DegOfRad(stateGetNedToBodyEulers_f()->phi*10.0f);
   int16_t theta = DegOfRad(stateGetNedToBodyEulers_f()->theta*10.0f);
-  // course in decideg
-  int16_t course = DegOfRad(*stateGetHorizontalSpeedDir_f()) * 10;
+  int16_t psi = DegOfRad(stateGetNedToBodyEulers_f()->psi*10.0f);
   // ground speed in cm/s
   uint16_t speed = (*stateGetHorizontalSpeedNorm_f()) * 10;
   int16_t photo_nr = -1;
@@ -114,7 +114,7 @@ void dc_send_shot_position(void)
                         &stateGetPositionLla_i()->alt,
                         &phi,
                         &theta,
-                        &course,
+                        &psi,
                         &speed,
                         &gps.tow);
 }