From 2d978beefbc010d962034a0f0d588cbf46a063f0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 26 Apr 2014 16:16:44 +0200 Subject: Compile fixes --- src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 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 1c943137a..fdb5dd588 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 @@ -1213,8 +1213,8 @@ FixedwingEstimator::task_main() _global_pos.lat = est_lat; _global_pos.lon = est_lon; _global_pos.time_gps_usec = _gps.time_gps_usec; - _global_pos.eph = _gps.eph; - _global_pos.epv = _gps.epv; + _global_pos.eph = _gps.eph_m; + _global_pos.epv = _gps.epv_m; } if (_local_pos.v_xy_valid) { @@ -1227,7 +1227,6 @@ FixedwingEstimator::task_main() /* local pos alt is negative, change sign and add alt offset */ _global_pos.alt = _local_pos.ref_alt + (-_local_pos.z); - _global_pos.rel_alt = (-_local_pos.z); if (_local_pos.v_z_valid) { _global_pos.vel_d = _local_pos.vz; -- cgit v1.2.3