From 61a4ebeb08691455fd94ecb1ad487574c260f9d9 Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Sat, 23 Mar 2024 18:24:28 -0600 Subject: [PATCH] AP_ExternalAHRS: Only use GPS data when populating GPS fields Signed-off-by: Ryan Friedman --- .../AP_ExternalAHRS_MicroStrain7.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp index 6ac218afb0..c7ddd1099e 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp @@ -219,20 +219,20 @@ void AP_ExternalAHRS_MicroStrain7::post_filter() const hdop: gnss_data[instance].hdop, vdop: gnss_data[instance].vdop, - longitude: filter_data.lon, - latitude: filter_data.lat, + longitude: gnss_data[instance].lon, + latitude: gnss_data[instance].lat, msl_altitude: gnss_data[instance].msl_altitude, - ned_vel_north: filter_data.ned_velocity_north, - ned_vel_east: filter_data.ned_velocity_east, - ned_vel_down: filter_data.ned_velocity_down, + ned_vel_north: gnss_data[instance].ned_velocity_north, + ned_vel_east: gnss_data[instance].ned_velocity_east, + ned_vel_down: gnss_data[instance].ned_velocity_down, }; // *INDENT-ON* if (gps.fix_type >= 3 && !state.have_origin) { WITH_SEMAPHORE(state.sem); - state.origin = Location{int32_t(filter_data.lat), - int32_t(filter_data.lon), + state.origin = Location{int32_t(gnss_data[instance].lat), + int32_t(gnss_data[instance].lon), int32_t(gnss_data[instance].msl_altitude), Location::AltFrame::ABSOLUTE}; state.have_origin = true;