Scripting: added Lat,Lon to aerobatics POSM/POST

this makes "map POSM POST" work on aerobatic scripts
ArduPilot · Sep 26, 2024 · 8895723 · 8895723
1 parent 00163ce
commit 8895723
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
@@ -2124,7 +2124,9 @@ end
 
 -- log a pose from position and quaternion attitude
 function log_pose(logname, pos, quat)
-   logger.write(logname, 'px,py,pz,q1,q2,q3,q4,r,p,y', 'ffffffffff',
+   local loc = ahrs:get_origin():copy()
+   loc:offset(pos:x(),pos:y())
+   logger.write(logname, 'px,py,pz,q1,q2,q3,q4,r,p,y,Lat,Lon', 'ffffffffffLL',
                 pos:x(),
                 pos:y(),
                 pos:z(),
@@ -2134,7 +2136,9 @@ function log_pose(logname, pos, quat)
                 quat:q4(),
                 math.deg(quat:get_euler_roll()),
                 math.deg(quat:get_euler_pitch()),
-                math.deg(quat:get_euler_yaw()))
+                math.deg(quat:get_euler_yaw()),
+                loc:lat(),
+                loc:lng())
 end
 
 --[[