diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 420a03644..45ca13a7f 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -797,7 +797,7 @@ FixedwingEstimator::task_main() if (hrt_elapsed_time(&start_time) > 100000) { - if (!_gps_initialized && (_ekf->GPSstatus == 3)) { + if (!_gps_initialized && (_ekf->GPSstatus == 3) && map_projection_initialized()) { _ekf->velNED[0] = _gps.vel_n_m_s; _ekf->velNED[1] = _gps.vel_e_m_s; _ekf->velNED[2] = _gps.vel_d_m_s; @@ -809,10 +809,9 @@ FixedwingEstimator::task_main() _ekf->InitialiseFilter(_ekf->velNED); // Initialize projection - _local_pos.ref_lat = _gps.lat; - _local_pos.ref_lon = _gps.lon; + map_projection_reference(&_local_pos.ref_lat, &_local_pos.ref_lon); _local_pos.ref_alt = alt; - _local_pos.ref_timestamp = _gps.timestamp_position; + _local_pos.ref_timestamp = map_projection_timestamp(); // Store orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); |