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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-12 08:45:49 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-12 08:45:49 +0400 |
| commit | c51c211bbaef70defe73c91f6acd6ab99f0f3a04 (patch) | |
| tree | 3a31df0c5d8d606594e19190e22a51e1331239d8 /src/modules/position_estimator_inav | |
| parent | c291c4482a74c028a2c28f24978dc06c52b0c6d4 (diff) | |
| download | px4-firmware-c51c211bbaef70defe73c91f6acd6ab99f0f3a04.tar.gz px4-firmware-c51c211bbaef70defe73c91f6acd6ab99f0f3a04.tar.bz2 px4-firmware-c51c211bbaef70defe73c91f6acd6ab99f0f3a04.zip | |
position_estimator_inav: global position altitude fixed
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 |
1 files changed, 1 insertions, 1 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 9db2633c6..3b0fbd782 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -548,7 +548,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon); global_pos.lat = (int32_t)(est_lat * 1e7); global_pos.lon = (int32_t)(est_lon * 1e7); - global_pos.alt = -local_pos.z - local_pos.home_alt; + global_pos.alt = local_pos.home_alt - local_pos.z; global_pos.relative_alt = -local_pos.z; global_pos.vx = local_pos.vx; global_pos.vy = local_pos.vy; |