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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-28 19:15:58 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-28 19:17:48 +0200 |
| commit | 11a1053b73787bb2afbaff360f720de430447455 (patch) | |
| tree | 5ea5ef324c9e106814b68f70541fec72900e4cf0 /src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | |
| parent | f78005bcb67eed7ffb61aa277623286e9061748f (diff) | |
| download | px4-firmware-11a1053b73787bb2afbaff360f720de430447455.tar.gz px4-firmware-11a1053b73787bb2afbaff360f720de430447455.tar.bz2 px4-firmware-11a1053b73787bb2afbaff360f720de430447455.zip | |
ekf_att_pos_estimator: local position reference fixed
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp')
| -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; |