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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-29 14:40:01 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-29 14:40:01 +0200 |
| commit | 4f84cdc8b871b6c8da7f05a58e96f97b65f290c9 (patch) | |
| tree | 254009e1800242805d2374ed998bf961f5162488 | |
| parent | 3ec818ce1ed764aeb5f3e8c7371b53b87c2498c3 (diff) | |
| download | px4-firmware-4f84cdc8b871b6c8da7f05a58e96f97b65f290c9.tar.gz px4-firmware-4f84cdc8b871b6c8da7f05a58e96f97b65f290c9.tar.bz2 px4-firmware-4f84cdc8b871b6c8da7f05a58e96f97b65f290c9.zip | |
fw_att_pos_estimator: use new global map projection
| -rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 45ca13a7f..79328d516 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -797,7 +797,7 @@ FixedwingEstimator::task_main() if (hrt_elapsed_time(&start_time) > 100000) { - if (!_gps_initialized && (_ekf->GPSstatus == 3) && map_projection_initialized()) { + if (!_gps_initialized && (_ekf->GPSstatus == 3) && map_projection_global_initialized()) { _ekf->velNED[0] = _gps.vel_n_m_s; _ekf->velNED[1] = _gps.vel_e_m_s; _ekf->velNED[2] = _gps.vel_d_m_s; @@ -809,9 +809,9 @@ FixedwingEstimator::task_main() _ekf->InitialiseFilter(_ekf->velNED); // Initialize projection - map_projection_reference(&_local_pos.ref_lat, &_local_pos.ref_lon); + map_projection_global_reference(&_local_pos.ref_lat, &_local_pos.ref_lon); _local_pos.ref_alt = alt; - _local_pos.ref_timestamp = map_projection_timestamp(); + _local_pos.ref_timestamp = map_projection_global_timestamp(); // Store orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); @@ -1041,7 +1041,7 @@ FixedwingEstimator::task_main() if (_local_pos.xy_global) { double est_lat, est_lon; - map_projection_reproject(_local_pos.x, _local_pos.y, &est_lat, &est_lon); + map_projection_global_reproject(_local_pos.x, _local_pos.y, &est_lat, &est_lon); _global_pos.lat = est_lat; _global_pos.lon = est_lon; _global_pos.time_gps_usec = _gps.time_gps_usec; |