[modules][messages] DC_INFO: add course additionally to heading

paparazzi · Dec 3, 2014 · f54a456 · f54a456
1 parent dac8d85
commit f54a456
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Showing 2 changed files with 4 additions and 0 deletions.
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -915,6 +915,7 @@
     <field name="phi" type="int16" unit="decideg">Euler angle around x-axis (roll)</field>
     <field name="theta" type="int16" unit="decideg">Euler angle around y-axis (pitch)</field>
     <field name="psi" type="int16" unit="decideg">Euler angle around z-axis (yaw)</field>
+    <field name="course" type="int16" unit="decideg">Course over ground (CW/north)</field>
     <field name="speed" type="uint16" unit="cm/s">horizontal ground speed</field>
     <field name="itow" type="uint32" unit="ms">GPS time of week</field>
   </message>

diff --git a/sw/airborne/modules/digital_cam/dc.c b/sw/airborne/modules/digital_cam/dc.c
@@ -98,6 +98,8 @@ void dc_send_shot_position(void)
   int16_t phi = DegOfRad(stateGetNedToBodyEulers_f()->phi*10.0f);
   int16_t theta = DegOfRad(stateGetNedToBodyEulers_f()->theta*10.0f);
   int16_t psi = DegOfRad(stateGetNedToBodyEulers_f()->psi*10.0f);
+  // course in decideg
+  int16_t course = DegOfRad(*stateGetHorizontalSpeedDir_f()) * 10;
   // ground speed in cm/s
   uint16_t speed = (*stateGetHorizontalSpeedNorm_f()) * 10;
   int16_t photo_nr = -1;
@@ -116,6 +118,7 @@ void dc_send_shot_position(void)
                         &phi,
                         &theta,
                         &psi,
+                        &course,
                         &speed,
                         &gps.tow);
 }