From 58792c5ca6e42bc251dd3c92b0e79217ff5d5403 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 24 Jan 2014 00:06:10 +0100 Subject: Use double for lat/lon in vehicle_global_position topic, use filed names lat, lon, alt, vel_n, vel_e, vel_d for global positions --- src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'src/modules/attitude_estimator_ekf') diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 6a1bec153..66ec20b95 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -414,9 +414,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds vel_valid = true; if (global_pos_updated) { vel_t = global_pos.timestamp; - vel(0) = global_pos.vx; - vel(1) = global_pos.vy; - vel(2) = global_pos.vz; + vel(0) = global_pos.vel_n; + vel(1) = global_pos.vel_e; + vel(2) = global_pos.vel_d; } } -- cgit v1.2.3