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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-16 13:30:49 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-16 13:30:49 +0200 |
| commit | 6c2640768d21e0c1898bfd8a2cd0b763a9e348c7 (patch) | |
| tree | 7e0f3914beffade909b564f37cf115e01a411cee /src/modules/position_estimator_inav/position_estimator_inav_main.c | |
| parent | 9e7077fdf9c62ae08c9915e752353671839b5e0b (diff) | |
| parent | 489e7b2f1e8639059587c730525397e9424d4044 (diff) | |
| download | px4-firmware-6c2640768d21e0c1898bfd8a2cd0b763a9e348c7.tar.gz px4-firmware-6c2640768d21e0c1898bfd8a2cd0b763a9e348c7.tar.bz2 px4-firmware-6c2640768d21e0c1898bfd8a2cd0b763a9e348c7.zip | |
Merge branch 'master' of github.com:PX4/Firmware into fixedwing_l1
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 932f61088..10007bf96 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -259,7 +259,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) local_pos.ref_timestamp = hrt_absolute_time(); local_pos.z_valid = true; local_pos.v_z_valid = true; - local_pos.global_z = true; + local_pos.z_global = true; } } } @@ -597,7 +597,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) local_pos.timestamp = t; local_pos.xy_valid = can_estimate_xy && gps_valid; local_pos.v_xy_valid = can_estimate_xy; - local_pos.global_xy = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented + local_pos.xy_global = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented local_pos.x = x_est[0]; local_pos.vx = x_est[1]; local_pos.y = y_est[0]; @@ -610,9 +610,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos); /* publish global position */ - global_pos.valid = local_pos.global_xy; + global_pos.valid = local_pos.xy_global; - if (local_pos.global_xy) { + if (local_pos.xy_global) { double est_lat, est_lon; map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon); global_pos.lat = (int32_t)(est_lat * 1e7); @@ -630,7 +630,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) global_pos.relative_alt = -local_pos.z; } - if (local_pos.global_z) { + if (local_pos.z_global) { global_pos.alt = local_pos.ref_alt - local_pos.z; } |