diff options
-rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp index a8b6eae1c..7b9a558b5 100644 --- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -979,7 +979,7 @@ FixedwingEstimator::task_main() // struct home_position_s home; // orb_copy(ORB_ID(home_position), _home_sub, &home); - if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph_m < _parameters.pos_stddev_threshold && _gps.epv_m < _parameters.pos_stddev_threshold) { + if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph < _parameters.pos_stddev_threshold && _gps.epv < _parameters.pos_stddev_threshold) { _ekf->velNED[0] = _gps.vel_n_m_s; _ekf->velNED[1] = _gps.vel_e_m_s; _ekf->velNED[2] = _gps.vel_d_m_s; @@ -1017,7 +1017,7 @@ FixedwingEstimator::task_main() mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt); warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt, (double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]); - warnx("GPS: eph: %8.4f, epv: %8.4f", (double)_gps.eph_m, (double)_gps.epv_m); + warnx("GPS: eph: %8.4f, epv: %8.4f", (double)_gps.eph, (double)_gps.epv); _gps_initialized = true; @@ -1259,8 +1259,8 @@ FixedwingEstimator::task_main() _global_pos.lat = est_lat; _global_pos.lon = est_lon; _global_pos.time_gps_usec = _gps.time_gps_usec; - _global_pos.eph = _gps.eph_m; - _global_pos.epv = _gps.epv_m; + _global_pos.eph = _gps.eph; + _global_pos.epv = _gps.epv; } if (_local_pos.v_xy_valid) { |