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ekf2: fix errors in publishing of local position origin validity flags

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Paul Riseborough 2016-12-28 10:50:27 +11:00 committed by Lorenz Meier
parent 7c068e83d8
commit 9983bf2364
1 changed files with 2 additions and 4 deletions
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6
src/modules/ekf2/ekf2_main.cpp
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@ -829,10 +829,8 @@ void Ekf2::task_main()
// Position of local NED origin in GPS / WGS84 frame
struct map_projection_reference_s ekf_origin = {};
// true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
_ekf.get_ekf_origin(&lpos.ref_timestamp, &ekf_origin, &lpos.ref_alt);
lpos.xy_global = _ekf.global_position_is_valid();
lpos.z_global = true; // true if z is valid and has valid global reference (ref_alt)
// true if position (x,y,z) has a valid WGS-84 global reference (ref_lat, ref_lon, alt)
lpos.xy_global = lpos.z_global = _ekf.get_ekf_origin(&lpos.ref_timestamp, &ekf_origin, &lpos.ref_alt);
lpos.ref_lat = ekf_origin.lat_rad * 180.0 / M_PI; // Reference point latitude in degrees
lpos.ref_lon = ekf_origin.lon_rad * 180.0 / M_PI; // Reference point longitude in degrees