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pos estimator mc: revert to local map projection

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Thomas Gubler
2014-04-29 15:41:12 +02:00
parent 510678bdae
commit 606f3cba5c
1 changed files with 5 additions and 0 deletions
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src/modules/position_estimator_mc/position_estimator_mc_main.c
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@@ -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 */