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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-24 00:06:10 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-24 00:06:10 +0100 |
| commit | 58792c5ca6e42bc251dd3c92b0e79217ff5d5403 (patch) | |
| tree | ea46289f1159857c26ea40f71674a3bbb06cec8e /src/modules/att_pos_estimator_ekf | |
| parent | b3d98e4a19662af44432a0436a1b5de7fb9649c9 (diff) | |
| download | px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.tar.gz px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.tar.bz2 px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.zip | |
Use double for lat/lon in vehicle_global_position topic, use filed names lat, lon, alt, vel_n, vel_e, vel_d for global positions
Diffstat (limited to 'src/modules/att_pos_estimator_ekf')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index aca3fe7b6..8e88130e1 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -318,10 +318,9 @@ void KalmanNav::updatePublications() _pos.lat = getLatDegE7(); _pos.lon = getLonDegE7(); _pos.alt = float(alt); - _pos.relative_alt = float(alt); // TODO, make relative - _pos.vx = vN; - _pos.vy = vE; - _pos.vz = vD; + _pos.vel_n = vN; + _pos.vel_e = vE; + _pos.vel_d = vD; _pos.yaw = psi; // local position publication |