fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-30 13:24:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw att pos estimator: use map projection reference values for local pos

Browse Source
This commit is contained in:
Thomas Gubler 2014-04-25 09:44:40 +02:00
parent 7e1ea35571
commit 5285eb2f99
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
View File

@ -797,7 +797,7 @@ FixedwingEstimator::task_main()
if (hrt_elapsed_time(&start_time) > 100000) {
if (!_gps_initialized && (_ekf->GPSstatus == 3)) {
if (!_gps_initialized && (_ekf->GPSstatus == 3) && map_projection_initialized()) {
_ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s;
@ -809,10 +809,9 @@ FixedwingEstimator::task_main()
_ekf->InitialiseFilter(_ekf->velNED);
// Initialize projection
_local_pos.ref_lat = _gps.lat;
_local_pos.ref_lon = _gps.lon;
map_projection_reference(&_local_pos.ref_lat, &_local_pos.ref_lon);
_local_pos.ref_alt = alt;
_local_pos.ref_timestamp = _gps.timestamp_position;
_local_pos.ref_timestamp = map_projection_timestamp();
// Store
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);