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global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt

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Anton Babushkin
2014-01-28 20:40:05 +01:00
parent 48f1b7e1c7
commit 6a1a29f77e
11 changed files with 69 additions and 34 deletions
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src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+1 -1
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@@ -314,7 +314,7 @@ void KalmanNav::updatePublications()
// global position publication
_pos.timestamp = _pubTimeStamp;
_pos.time_gps_usec = _gps.timestamp_position;
_pos.valid = true;
_pos.global_valid = true;
_pos.lat = getLatDegE7();
_pos.lon = getLonDegE7();
_pos.alt = float(alt);