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ekf_att_pos_estimator: local position reference fixed

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Anton Babushkin
2014-04-28 19:17:48 +02:00
parent f78005bcb6
commit 11a1053b73
1 changed files with 2 additions and 2 deletions
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src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+2 -2
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@@ -1004,8 +1004,8 @@ FixedwingEstimator::task_main()
_ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt, declination); _ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt, declination);
// Initialize projection // Initialize projection
_local_pos.ref_lat = _gps.lat; _local_pos.ref_lat = lat;
_local_pos.ref_lon = _gps.alt; _local_pos.ref_lon = lon;
_local_pos.ref_alt = _baro_ref + _baro_gps_offset; _local_pos.ref_alt = _baro_ref + _baro_gps_offset;
_local_pos.ref_timestamp = _gps.timestamp_position; _local_pos.ref_timestamp = _gps.timestamp_position;