fw_att_pos_estimator: map_projection_XXX usage fixed, vehicle_global_position topic publication fixed

1 files changed, 7 insertions, 10 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 c9d75bce4..22d321907 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
@@ -167,6 +167,8 @@ private:
 	struct sensor_combined_s			_sensor_combined;
 #endif
 
+	struct map_projection_reference_s	_pos_ref;
+
 	float						_baro_ref;		/**< barometer reference altitude */
 	float						_baro_gps_offset;	/**< offset between GPS and baro */
 
@@ -803,7 +805,7 @@ FixedwingEstimator::task_main()
 					_baro_gps_offset = _baro_ref - _local_pos.ref_alt;
 
 					// XXX this is not multithreading safe
-					map_projection_init(lat, lon);
+					map_projection_init(&_pos_ref, lat, lon);
 					mavlink_log_info(_mavlink_fd, "[position estimator] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
 
 					_gps_initialized = true;
@@ -1029,18 +1031,14 @@ FixedwingEstimator::task_main()
 
 				_global_pos.timestamp = _local_pos.timestamp;
 
-				_global_pos.baro_valid = true;
-				_global_pos.global_valid = true;
-
 				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_reproject(&_pos_ref, _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;
 				}
 
-				/* set valid values even if position is not valid */
 				if (_local_pos.v_xy_valid) {
 					_global_pos.vel_n = _local_pos.vx;
 					_global_pos.vel_e = _local_pos.vy;
@@ -1052,16 +1050,15 @@ FixedwingEstimator::task_main()
 				/* local pos alt is negative, change sign and add alt offset */
 				_global_pos.alt = _local_pos.ref_alt + (-_local_pos.z);
 
-				if (_local_pos.z_valid) {
-					_global_pos.baro_alt = _local_pos.ref_alt - _baro_gps_offset - _local_pos.z;
-				}
-
 				if (_local_pos.v_z_valid) {
 					_global_pos.vel_d = _local_pos.vz;
 				}
 
 				_global_pos.yaw = _local_pos.yaw;
 
+				_global_pos.eph = _gps.eph_m;
+				_global_pos.epv = _gps.epv_m;
+
 				_global_pos.timestamp = _local_pos.timestamp;
 
 				/* lazily publish the global position only once available */