diff options
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index e9b92119d..057cb051d 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -645,7 +645,7 @@ MulticopterPositionControl::task_main() if (pos_sp_offs_norm > 1.0f) { pos_sp_offs /= pos_sp_offs_norm; - add_vector_to_global_position(_lat_sp, _lon_sp, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp); + add_vector_to_global_position(_global_pos.lat, _global_pos.lon, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp); _alt_sp = alt - pos_sp_offs(2) * _params.sp_offs_max(2); } |