diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 2 | ||||
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.h | 2 |
2 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index e4b0c2b14..9622f7e40 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -1891,7 +1891,7 @@ void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt posNED[2] = -(hgt - hgtReference); } -void AttPosEKF::calcLLH(float (&posNED)[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef) +void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef) { lat = latRef + (double)posNED[0] * earthRadiusInv; lon = lonRef + (double)posNED[1] * earthRadiusInv / cos(latRef); diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h index dc461cfa1..7aad849f9 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h @@ -246,7 +246,7 @@ static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, flo void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef); -static void calcLLH(float (&posNED)[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef); +static void calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef); static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]); |