From 606f3cba5c932d6aba0e383e915b02b78009fd9f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 29 Apr 2014 15:41:12 +0200 Subject: [PATCH] pos estimator mc: revert to local map projection --- .../position_estimator_mc/position_estimator_mc_main.c | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c index ee6457aded..3639618193 100755 --- a/src/modules/position_estimator_mc/position_estimator_mc_main.c +++ b/src/modules/position_estimator_mc/position_estimator_mc_main.c @@ -322,6 +322,11 @@ int position_estimator_mc_thread_main(int argc, char *argv[]) lon_current = ((double)(gps.lon)) * 1e-7d; alt_current = gps.alt * 1e-3f; gps_origin_altitude = alt_current; + /* initialize coordinates */ + map_projection_init(lat_current, lon_current); + /* publish global position messages only after first GPS message */ + printf("[pos_est_mc] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); + } else { mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON"); /* onboard calculated position estimations */