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Pass acc data in mG in SCALED_IMU to comply with mavlink standard

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https://mavlink.io/en/messages/common.html#SCALED_IMU
pyflix@0.13
This commit is contained in:
Oleg Kalachev
2026-04-24 07:42:39 +03:00
parent 350a82bfed
commit d6a79d6c66
3 changed files with 4 additions and 3 deletions
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flix/mavlink.ino
+1 -1
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@@ -65,7 +65,7 @@ void sendMavlink() {
sendMessage(&msg);
mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time,
acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd
acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd
gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
0, 0, 0, 0);
sendMessage(&msg);