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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 22:39:54 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 22:39:54 +0200 |
| commit | 7c88fbff903c6e17434e7e77e29fb9bd223c39c0 (patch) | |
| tree | c1b7bd1fc548ae821e1c0413b6022acd9c233a24 | |
| parent | 86d9fb56362d55e94a06a9fc6c6dafaa26aacc98 (diff) | |
| parent | 11a1053b73787bb2afbaff360f720de430447455 (diff) | |
| download | px4-firmware-7c88fbff903c6e17434e7e77e29fb9bd223c39c0.tar.gz px4-firmware-7c88fbff903c6e17434e7e77e29fb9bd223c39c0.tar.bz2 px4-firmware-7c88fbff903c6e17434e7e77e29fb9bd223c39c0.zip | |
Merge branch 'ekf_params' of github.com:PX4/Firmware into ekf_params
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 4 |
1 files changed, 2 insertions, 2 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 23f9e80bd..fb019a354 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 @@ -1004,8 +1004,8 @@ FixedwingEstimator::task_main() _ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt, declination); // Initialize projection - _local_pos.ref_lat = _gps.lat; - _local_pos.ref_lon = _gps.alt; + _local_pos.ref_lat = lat; + _local_pos.ref_lon = lon; _local_pos.ref_alt = _baro_ref + _baro_gps_offset; _local_pos.ref_timestamp = _gps.timestamp_position; |