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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-26 16:16:44 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-26 16:16:44 +0200 |
| commit | 2d978beefbc010d962034a0f0d588cbf46a063f0 (patch) | |
| tree | 60f26b8efc0dc6e59b7881eed8ac69e3ba383854 | |
| parent | 0d50b3ea866a9ca0b9271b8c861f1d9e2a61a24a (diff) | |
| download | px4-firmware-2d978beefbc010d962034a0f0d588cbf46a063f0.tar.gz px4-firmware-2d978beefbc010d962034a0f0d588cbf46a063f0.tar.bz2 px4-firmware-2d978beefbc010d962034a0f0d588cbf46a063f0.zip | |
Compile fixes
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.cpp | 2 | ||||
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 5 |
2 files changed, 3 insertions, 4 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index 6eceb21f8..ffebcd477 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -2307,7 +2307,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { if (!isfinite(states[i])) { err_report->statesNaN = true; - ekf_debug("states NaN: i: %u val: %f", i, states[i]); + ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]); err = true; goto out; } // state matrix 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 1c943137a..fdb5dd588 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 @@ -1213,8 +1213,8 @@ FixedwingEstimator::task_main() _global_pos.lat = est_lat; _global_pos.lon = est_lon; _global_pos.time_gps_usec = _gps.time_gps_usec; - _global_pos.eph = _gps.eph; - _global_pos.epv = _gps.epv; + _global_pos.eph = _gps.eph_m; + _global_pos.epv = _gps.epv_m; } if (_local_pos.v_xy_valid) { @@ -1227,7 +1227,6 @@ FixedwingEstimator::task_main() /* local pos alt is negative, change sign and add alt offset */ _global_pos.alt = _local_pos.ref_alt + (-_local_pos.z); - _global_pos.rel_alt = (-_local_pos.z); if (_local_pos.v_z_valid) { _global_pos.vel_d = _local_pos.vz; |