diff options
Diffstat (limited to 'src/modules/att_pos_estimator_ekf/KalmanNav.hpp')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.hpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp index caf93bc78..24df153cb 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp @@ -49,6 +49,7 @@ #include <controllib/block/BlockParam.hpp> #include <uORB/Subscription.hpp> #include <uORB/Publication.hpp> +#include <lib/geo/geo.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_global_position.h> @@ -164,6 +165,7 @@ protected: // parameters float alt; /**< altitude, meters */ double lat0, lon0; /**< reference latitude and longitude */ + struct map_projection_reference_s ref; /**< local projection reference */ float alt0; /**< refeerence altitude (ground height) */ control::BlockParamFloat _vGyro; /**< gyro process noise */ control::BlockParamFloat _vAccel; /**< accelerometer process noise */ |