From 11a1053b73787bb2afbaff360f720de430447455 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 28 Apr 2014 19:15:58 +0200 Subject: ekf_att_pos_estimator: local position reference fixed --- src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp') diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp index 23f9e80bd..fb019a354 100644 --- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -1004,8 +1004,8 @@ FixedwingEstimator::task_main() _ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt, declination); // Initialize projection - _local_pos.ref_lat = _gps.lat; - _local_pos.ref_lon = _gps.alt; + _local_pos.ref_lat = lat; + _local_pos.ref_lon = lon; _local_pos.ref_alt = _baro_ref + _baro_gps_offset; _local_pos.ref_timestamp = _gps.timestamp_position; -- cgit v1.2.3