diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 326a3e1f3..d7425cbb4 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -826,8 +826,8 @@ int commander_thread_main(int argc, char *argv[]) int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); struct vehicle_gps_position_s gps_position; memset(&gps_position, 0, sizeof(gps_position)); - gps_position.eph_m = FLT_MAX; - gps_position.epv_m = FLT_MAX; + gps_position.eph = FLT_MAX; + gps_position.epv = FLT_MAX; /* Subscribe to sensor topic */ int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); @@ -1261,8 +1261,8 @@ int commander_thread_main(int argc, char *argv[]) /* Initialize map projection if gps is valid */ if (!map_projection_global_initialized() - && (gps_position.eph_m < eph_epv_threshold) - && (gps_position.epv_m < eph_epv_threshold) + && (gps_position.eph < eph_epv_threshold) + && (gps_position.epv < eph_epv_threshold) && hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) { /* set reference for global coordinates <--> local coordiantes conversion and map_projection */ globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time()); |