diff options
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 932f61088..10007bf96 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -259,7 +259,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) local_pos.ref_timestamp = hrt_absolute_time(); local_pos.z_valid = true; local_pos.v_z_valid = true; - local_pos.global_z = true; + local_pos.z_global = true; } } } @@ -597,7 +597,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) local_pos.timestamp = t; local_pos.xy_valid = can_estimate_xy && gps_valid; local_pos.v_xy_valid = can_estimate_xy; - local_pos.global_xy = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented + local_pos.xy_global = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented local_pos.x = x_est[0]; local_pos.vx = x_est[1]; local_pos.y = y_est[0]; @@ -610,9 +610,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos); /* publish global position */ - global_pos.valid = local_pos.global_xy; + global_pos.valid = local_pos.xy_global; - if (local_pos.global_xy) { + if (local_pos.xy_global) { double est_lat, est_lon; map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon); global_pos.lat = (int32_t)(est_lat * 1e7); @@ -630,7 +630,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) global_pos.relative_alt = -local_pos.z; } - if (local_pos.global_z) { + if (local_pos.z_global) { global_pos.alt = local_pos.ref_alt - local_pos.z; } |