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lpe: fix incorrect setting of local_position.z_global

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Paul Riseborough
2017-12-07 10:40:42 +11:00
committed by Lorenz Meier
parent 8d89e5e40b
commit b5be990109
6 changed files with 7 additions and 1 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+2 -1
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@@ -138,6 +138,7 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
// reference altitudes
_altOrigin(0),
_altOriginInitialized(false),
_altOriginGlobal(false),
_baroAltOrigin(0),
_gpsAltOrigin(0),
@@ -614,7 +615,7 @@ void BlockLocalPositionEstimator::publishLocalPos()
_pub_lpos.get().yaw = _eul(2);
_pub_lpos.get().xy_global = _estimatorInitialized & EST_XY;
_pub_lpos.get().z_global = !(_sensorTimeout & SENSOR_BARO);
_pub_lpos.get().z_global = !(_sensorTimeout & SENSOR_BARO) && _altOriginGlobal;
_pub_lpos.get().ref_timestamp = _time_origin;
_pub_lpos.get().ref_lat = _map_ref.lat_rad * 180 / M_PI;
_pub_lpos.get().ref_lon = _map_ref.lon_rad * 180 / M_PI;