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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-29 15:41:12 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-29 15:41:12 +0200 |
| commit | 606f3cba5c932d6aba0e383e915b02b78009fd9f (patch) | |
| tree | ff650c09cf40968146311384016039e288006d77 | |
| parent | 510678bdae82a04151b6d5dcd5b02bee6f96abfd (diff) | |
| download | px4-firmware-606f3cba5c932d6aba0e383e915b02b78009fd9f.tar.gz px4-firmware-606f3cba5c932d6aba0e383e915b02b78009fd9f.tar.bz2 px4-firmware-606f3cba5c932d6aba0e383e915b02b78009fd9f.zip | |
pos estimator mc: revert to local map projection
| -rwxr-xr-x | src/modules/position_estimator_mc/position_estimator_mc_main.c | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c index ee6457ade..363961819 100755 --- a/src/modules/position_estimator_mc/position_estimator_mc_main.c +++ b/src/modules/position_estimator_mc/position_estimator_mc_main.c @@ -322,6 +322,11 @@ int position_estimator_mc_thread_main(int argc, char *argv[]) lon_current = ((double)(gps.lon)) * 1e-7d; alt_current = gps.alt * 1e-3f; gps_origin_altitude = alt_current; + /* initialize coordinates */ + map_projection_init(lat_current, lon_current); + /* publish global position messages only after first GPS message */ + printf("[pos_est_mc] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); + } else { mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON"); /* onboard calculated position estimations */ |