Use updated map_projection_XXX functions in apps

src/modules/att_pos_estimator_ekf/KalmanNav.cpp

@@ -97,6 +97,8 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
 {
 	using namespace math;
 
+	memset(&ref, 0, sizeof(ref));
+
 	F.zero();
 	G.zero();
 	V.zero();
@@ -247,11 +249,7 @@ void KalmanNav::update()
 		lat0 = lat;
 		lon0 = lon;
 		alt0 = alt;
-		// XXX map_projection has internal global
-		// states that multiple things could change, 
-		// should make map_projection take reference
-		// lat/lon and not have init
-		map_projection_init(lat0, lon0);
+		map_projection_init(&ref, lat0, lon0);
 		_positionInitialized = true;
 		warnx("initialized EKF state with GPS");
 		warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f",
@@ -327,7 +325,7 @@ void KalmanNav::updatePublications()
 	float x;
 	float y;
 	bool landed = alt < (alt0 + 0.1); // XXX improve?
-	map_projection_project(lat, lon, &x, &y); 
+	map_projection_project(&ref, lat, lon, &x, &y);
 	_localPos.timestamp = _pubTimeStamp;
 	_localPos.xy_valid = true;
 	_localPos.z_valid = true;

src/modules/att_pos_estimator_ekf/KalmanNav.hpp

@@ -49,6 +49,7 @@
 #include <controllib/block/BlockParam.hpp>
 #include <controllib/uorb/UOrbSubscription.hpp>
 #include <controllib/uorb/UOrbPublication.hpp>
+#include <lib/geo/geo.h>
 
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -164,6 +165,7 @@ protected:
 	// parameters
 	float alt;                   		/**< altitude, meters */
 	double lat0, lon0;                   	/**< reference latitude and longitude */
+	struct map_projection_reference_s ref;	/**< local projection reference */
 	float alt0;                   		/**<  refeerence altitude (ground height) */
 	control::BlockParamFloat _vGyro;      /**< gyro process noise */
 	control::BlockParamFloat _vAccel;     /**< accelerometer process noise  */