From 563460444a2fe0c7601a5181f96633ddf1b90b8c Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 25 Jan 2016 16:19:45 +0100 Subject: [PATCH] ekf2: get the rad to deg conversion right --- src/modules/ekf2/ekf2_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index a13ea5b940..38dbaf3327 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -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