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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-25 09:44:40 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-25 09:44:40 +0200 |
| commit | 5285eb2f997b590071186a8f695af4375f96e779 (patch) | |
| tree | 23618c1f447ef9c67cbc9b5cd59c6bcf2d20738c /src | |
| parent | 7e1ea35571149a9d766cc7122738f206f1ed3427 (diff) | |
| download | px4-firmware-5285eb2f997b590071186a8f695af4375f96e779.tar.gz px4-firmware-5285eb2f997b590071186a8f695af4375f96e779.tar.bz2 px4-firmware-5285eb2f997b590071186a8f695af4375f96e779.zip | |
fw att pos estimator: use map projection reference values for local pos
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 7 |
1 files changed, 3 insertions, 4 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 420a03644..45ca13a7f 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 @@ -797,7 +797,7 @@ FixedwingEstimator::task_main() if (hrt_elapsed_time(&start_time) > 100000) { - if (!_gps_initialized && (_ekf->GPSstatus == 3)) { + if (!_gps_initialized && (_ekf->GPSstatus == 3) && map_projection_initialized()) { _ekf->velNED[0] = _gps.vel_n_m_s; _ekf->velNED[1] = _gps.vel_e_m_s; _ekf->velNED[2] = _gps.vel_d_m_s; @@ -809,10 +809,9 @@ FixedwingEstimator::task_main() _ekf->InitialiseFilter(_ekf->velNED); // Initialize projection - _local_pos.ref_lat = _gps.lat; - _local_pos.ref_lon = _gps.lon; + map_projection_reference(&_local_pos.ref_lat, &_local_pos.ref_lon); _local_pos.ref_alt = alt; - _local_pos.ref_timestamp = _gps.timestamp_position; + _local_pos.ref_timestamp = map_projection_timestamp(); // Store orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); |