diff options
Diffstat (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index a194930a5..35dc39ec6 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -342,7 +342,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds if (gps_updated) { orb_copy(ORB_ID(vehicle_gps_position), sub_gps, &gps); - if (gps.eph_m < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) { + if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) { mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f)); /* update mag declination rotation matrix */ @@ -477,7 +477,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds parameters_update(&ekf_param_handles, &ekf_params); /* update mag declination rotation matrix */ - if (gps.eph_m < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) { + if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) { mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f)); } else { |