diff options
Diffstat (limited to 'src/modules/att_pos_estimator_ekf/KalmanNav.cpp')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index aca3fe7b6..8e88130e1 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -318,10 +318,9 @@ void KalmanNav::updatePublications() _pos.lat = getLatDegE7(); _pos.lon = getLonDegE7(); _pos.alt = float(alt); - _pos.relative_alt = float(alt); // TODO, make relative - _pos.vx = vN; - _pos.vy = vE; - _pos.vz = vD; + _pos.vel_n = vN; + _pos.vel_e = vE; + _pos.vel_d = vD; _pos.yaw = psi; // local position publication |