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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-05 17:07:15 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-05 17:07:15 +0400 |
| commit | 0fd6fb53f33bbe923973ee519e2464655f2c2bc5 (patch) | |
| tree | 3b366b6eaa11401200a75c26302ee83f10f82afd /src/modules/position_estimator_inav | |
| parent | 97cde3311efab479c43226dea3b1edd93629c33b (diff) | |
| download | px4-firmware-0fd6fb53f33bbe923973ee519e2464655f2c2bc5.tar.gz px4-firmware-0fd6fb53f33bbe923973ee519e2464655f2c2bc5.tar.bz2 px4-firmware-0fd6fb53f33bbe923973ee519e2464655f2c2bc5.zip | |
position_estimator_inav: projection reinitialization on home change 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, 1 insertions, 3 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 b77e51521..5a713d309 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -544,13 +544,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (home.timestamp != home_timestamp) { home_timestamp = home.timestamp; if (ref_inited) { - ref_inited = true; - /* reproject position estimate to new reference */ float dx, dy; map_projection_project(&ref, home.lat, home.lon, &dx, &dy); x_est[0] -= dx; - y_est[0] -= dx; + y_est[0] -= dy; z_est[0] += home.alt - local_pos.ref_alt; } |