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Emit the local position against the GPS reference - this means it can jump.

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Lorenz Meier
2014-04-26 18:38:37 +02:00
parent 925430796e
commit 6ab878c021
1 changed files with 1 additions and 1 deletions
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src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+1 -1
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@@ -1203,7 +1203,7 @@ FixedwingEstimator::task_main()
_local_pos.timestamp = last_sensor_timestamp;
_local_pos.x = _ekf->states[7];
_local_pos.y = _ekf->states[8];
_local_pos.z = _ekf->states[9];
_local_pos.z = _ekf->states[9] + _baro_gps_offset;
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];