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ekf2: get the rad to deg conversion right

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Julian Oes
2016-01-25 19:03:16 +01:00
committed by Lorenz Meier
parent 28754d3f58
commit 563460444a
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -2
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@@ -376,8 +376,8 @@ void Ekf2::task_main()
lpos.xy_global =
_ekf->position_is_valid();// true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
lpos.z_global = true;// true if z is valid and has valid global reference (ref_alt)
lpos.ref_lat = _ekf->_posRef.lat_rad * (double)180.0 * M_PI; // Reference point latitude in degrees
lpos.ref_lon = _ekf->_posRef.lon_rad * (double)180.0 * M_PI; // Reference point longitude in degrees
lpos.ref_lat = _ekf->_posRef.lat_rad * 180.0 / M_PI; // Reference point latitude in degrees
lpos.ref_lon = _ekf->_posRef.lon_rad * 180.0 / M_PI; // Reference point longitude in degrees
lpos.ref_alt =
_ekf->_gps_alt_ref; // Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level