Commit 720a699a authored by Roman Bapst's avatar Roman Bapst
Browse files

Merge pull request #1 from PX4/tailsitter_fix

Tailsitter fix
parents aee6f70f ac0175be
......@@ -495,7 +495,7 @@
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>0 0.3 -0.01</cp>
<cp>0 0.3 0.0</cp>
<area>0.15</area>
<air_density>1.2041</air_density>
<forward>0 0 1</forward>
......@@ -515,7 +515,7 @@
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>0 -0.3 -0.01</cp>
<cp>0 -0.3 -0.0</cp>
<area>0.15</area>
<air_density>1.2041</air_density>
<forward>0 0 1</forward>
......
......@@ -341,7 +341,7 @@ void GazeboMavlinkInterface::ImuCallback(ImuPtr& imu_message) {
sensor_msg.ymag = mag_I.y + mag_noise;
sensor_msg.zmag = mag_I.z + mag_noise;
sensor_msg.abs_pressure = 0.0;
sensor_msg.diff_pressure = 0.5*1.2754*body_vel.x*body_vel.x;
sensor_msg.diff_pressure = 0.5*1.2754*(body_vel.z + body_vel.x)*(body_vel.z + body_vel.x) / 100;
sensor_msg.pressure_alt = pos_W_I.z;
sensor_msg.temperature = 0.0;
sensor_msg.fields_updated = 4095;
......
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