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Random cleanup

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kamilritz
2020-07-02 15:55:24 +02:00
committed by Mathieu Bresciani
parent 9eea44f4ab
commit fce4958d4f
3 changed files with 53 additions and 59 deletions
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EKF/gps_checks.cpp
+2 -2
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@@ -62,8 +62,8 @@ bool Ekf::collect_gps(const gps_message &gps)
_gps_checks_passed = gps_is_good(gps);
if (!_NED_origin_initialised && _gps_checks_passed) {
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
const double lat = gps.lat / 1.0e7;
const double lon = gps.lon / 1.0e7;
const double lat = gps.lat * 1.0e-7;
const double lon = gps.lon * 1.0e-7;
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, correct for the change in position since the EKF started navigationg