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AP_InertialNav: Update for AHRS NED changes

This commit is contained in:
Michael du Breuil 2017-01-30 12:09:27 -07:00 committed by Andrew Tridgell
parent 42b6ca9eed
commit 2d212e5bd4
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
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@ -16,14 +16,14 @@ void AP_InertialNav_NavEKF::update(float dt)
{
// get the NE position relative to the local earth frame origin
Vector2f posNE;
if (_ahrs_ekf.get_relative_position_NE(posNE)) {
if (_ahrs_ekf.get_relative_position_NE_origin(posNE)) {
_relpos_cm.x = posNE.x * 100; // convert from m to cm
_relpos_cm.y = posNE.y * 100; // convert from m to cm
}
// get the D position relative to the local earth frame origin
float posD;
if (_ahrs_ekf.get_relative_position_D(posD)) {
if (_ahrs_ekf.get_relative_position_D_origin(posD)) {
_relpos_cm.z = - posD * 100; // convert from m in NED to cm in NEU
}