AP_RCTelemetry: correct alt ref

ArduPilot · Apr 28, 2024 · a6e34c9 · a6e34c9
1 parent f86cb78
commit a6e34c9
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
@@ -954,7 +954,7 @@ uint16_t AP_CRSF_Telem::get_altitude_packed()
 int8_t AP_CRSF_Telem::get_vertical_speed_packed()
 {
     float vspeed = get_vspeed_ms();
-    float vertical_speed_cm_s = vspeed * 100;
+    float vertical_speed_cm_s = vspeed * 100.0f;
     const int16_t Kl = 100; // linearity constant;
     const float Kr = .026f; // range constant;
     int8_t vspeed_packed = int8_t(logf(fabsf(vertical_speed_cm_s)/Kl + 1)/Kr);
@@ -976,7 +976,7 @@ void AP_CRSF_Telem::calc_baro_vario()
 // prepare vario data
 void AP_CRSF_Telem::calc_vario()
 {
-    _telem.bcast.vario.v_speed = get_vspeed_ms() * 100;
+    _telem.bcast.vario.v_speed = int16_t(get_vspeed_ms() * 100.0f);
     _telem_size = sizeof(VarioFrame);
     _telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_VARIO;
 

diff --git a/libraries/AP_RCTelemetry/AP_RCTelemetry.cpp b/libraries/AP_RCTelemetry/AP_RCTelemetry.cpp
@@ -300,7 +300,6 @@ uint32_t AP_RCTelemetry::sensor_status_flags() const
  */
 float AP_RCTelemetry::get_vspeed_ms(void)
 {
-
     {
         // release semaphore as soon as possible
         AP_AHRS &_ahrs = AP::ahrs();
@@ -310,7 +309,6 @@ float AP_RCTelemetry::get_vspeed_ms(void)
             return -v.z;
         }
     }
-
     auto &_baro = AP::baro();
     WITH_SEMAPHORE(_baro.get_semaphore());
     return _baro.get_climb_rate();
@@ -327,7 +325,7 @@ float AP_RCTelemetry::get_nav_alt_m(Location::AltFrame frame)
     AP_AHRS &_ahrs = AP::ahrs();
     WITH_SEMAPHORE(_ahrs.get_semaphore());
     if (_ahrs.get_location(loc)) {
-        if (!loc.get_alt_m(Location::AltFrame::ABSOLUTE, current_height)) {
+        if (!loc.get_alt_m(frame, current_height)) {
             // ignore this error
         }
     }