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ekf2 reset: fix sign of delta altitude for global position topic

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2016-10-16 21:35:31 +02:00
parent 8155044b40
commit 1e1bf7e4bb
1 changed files with 2 additions and 0 deletions
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2
src/modules/ekf2/ekf2_main.cpp
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@ -889,6 +889,8 @@ void Ekf2::task_main()
global_pos.alt = -pos[2] + lpos.ref_alt; // Altitude AMSL in meters
_ekf.get_posD_reset(&global_pos.delta_alt, &global_pos.alt_reset_counter);
// global altitude has opposite sign of local down position
global_pos.delta_alt *= -1.0f;
global_pos.vel_n = velocity[0]; // Ground north velocity, m/s
global_pos.vel_e = velocity[1]; // Ground east velocity, m/s