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position_estimator_inav: projection reinitialization on home change fixed

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Anton Babushkin
2014-04-05 17:07:15 +04:00
parent 97cde3311e
commit 0fd6fb53f3
1 changed files with 1 additions and 3 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+1 -3
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@@ -544,13 +544,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (home.timestamp != home_timestamp) { if (home.timestamp != home_timestamp) {
home_timestamp = home.timestamp; home_timestamp = home.timestamp;
if (ref_inited) { if (ref_inited) {
ref_inited = true;
/* reproject position estimate to new reference */ /* reproject position estimate to new reference */
float dx, dy; float dx, dy;
map_projection_project(&ref, home.lat, home.lon, &dx, &dy); map_projection_project(&ref, home.lat, home.lon, &dx, &dy);
x_est[0] -= dx; x_est[0] -= dx;
y_est[0] -= dx; y_est[0] -= dy;
z_est[0] += home.alt - local_pos.ref_alt; z_est[0] += home.alt - local_pos.ref_alt;
} }