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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-26 18:38:37 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-26 18:38:37 +0200 |
| commit | 6ab878c0218f26e5fa71053b75d7075b594b937e (patch) | |
| tree | 93febb8156ddca6238cb47946b5f8663d2295076 | |
| parent | 925430796ed56e97bf2310423361a8e6e29e350b (diff) | |
| download | px4-firmware-6ab878c0218f26e5fa71053b75d7075b594b937e.tar.gz px4-firmware-6ab878c0218f26e5fa71053b75d7075b594b937e.tar.bz2 px4-firmware-6ab878c0218f26e5fa71053b75d7075b594b937e.zip | |
Emit the local position against the GPS reference - this means it can jump.
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp index a02b2c34f..a82e8d704 100644 --- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -1203,7 +1203,7 @@ FixedwingEstimator::task_main() _local_pos.timestamp = last_sensor_timestamp; _local_pos.x = _ekf->states[7]; _local_pos.y = _ekf->states[8]; - _local_pos.z = _ekf->states[9]; + _local_pos.z = _ekf->states[9] + _baro_gps_offset; _local_pos.vx = _ekf->states[4]; _local_pos.vy = _ekf->states[5]; |