diff options
| -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; } |