diff options
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 1cfbde1d2..7c93c1c00 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -778,7 +778,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) if (!_hil_local_proj_inited) { _hil_local_proj_inited = true; _hil_local_alt0 = hil_state.alt / 1000.0f; - hil_local_pos.ref_timestamp = map_projection_global_timestamp(); + map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon); + hil_local_pos.ref_timestamp = timestamp; hil_local_pos.ref_lat = lat; hil_local_pos.ref_lon = lon; hil_local_pos.ref_alt = _hil_local_alt0; @@ -786,7 +787,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) float x; float y; - map_projection_global_project(lat, lon, &x, &y); + map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y); hil_local_pos.timestamp = timestamp; hil_local_pos.xy_valid = true; hil_local_pos.z_valid = true; |