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Replace calculation of earth NED rotation vector

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kamilritz
2020-01-07 08:14:59 +11:00
committed by Paul Riseborough
parent 9f053cb8c1
commit c6e3f389d2
3 changed files with 1 additions and 8 deletions
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EKF/gps_checks.cpp
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@@ -76,6 +76,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin
_gps_alt_ref = 1e-3f * (float)gps.alt + _state.pos(2);
_NED_origin_initialised = true;
calcEarthRateNED(_earth_rate_NED, (float)_pos_ref.lat_rad);
_last_gps_origin_time_us = _time_last_imu;
// set the magnetic field data returned by the geo library using the current GPS position