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position_estimator_inav, multirotor_pos_control: bugs fixed

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Anton Babushkin
2013-07-24 18:20:04 +04:00
parent 57837eb0b9
commit 8dd5130d99
2 changed files with 4 additions and 3 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -2
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@@ -453,8 +453,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
gps_corr[1][0] = gps_proj[1] - y_est[0];
if (gps.vel_ned_valid) {
gps_corr[0][1] = gps.vel_n_m_s;
gps_corr[1][1] = gps.vel_e_m_s;
gps_corr[0][1] = gps.vel_n_m_s - x_est[1];
gps_corr[1][1] = gps.vel_e_m_s - y_est[1];
} else {
gps_corr[0][1] = 0.0f;