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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-24 18:20:04 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-24 18:20:04 +0400 |
| commit | 8dd5130d998f7609c8a5d457093e31320b3668fd (patch) | |
| tree | 54b1e1b78ec3f6c4d0bfd1e40ed7b75f2f47bbab /src/modules/position_estimator_inav | |
| parent | 57837eb0b949d07941c7c70dd9e574851eb87a66 (diff) | |
| download | px4-firmware-8dd5130d998f7609c8a5d457093e31320b3668fd.tar.gz px4-firmware-8dd5130d998f7609c8a5d457093e31320b3668fd.tar.bz2 px4-firmware-8dd5130d998f7609c8a5d457093e31320b3668fd.zip | |
position_estimator_inav, multirotor_pos_control: bugs fixed
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 4 |
1 files changed, 2 insertions, 2 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 42b5fcb61..d4b2f0e43 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -453,8 +453,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) gps_corr[1][0] = gps_proj[1] - y_est[0]; if (gps.vel_ned_valid) { - gps_corr[0][1] = gps.vel_n_m_s; - gps_corr[1][1] = gps.vel_e_m_s; + gps_corr[0][1] = gps.vel_n_m_s - x_est[1]; + gps_corr[1][1] = gps.vel_e_m_s - y_est[1]; } else { gps_corr[0][1] = 0.0f; |