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AP_TECS: Update for AHRS NED changes

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Michael du Breuil 2017-01-30 12:07:48 -07:00 committed by Andrew Tridgell
parent 95edf6ab66
commit 666c63da9f
1 changed files with 2 additions and 6 deletions
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8
libraries/AP_TECS/AP_TECS.cpp
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@ -272,12 +272,8 @@ void AP_TECS::update_50hz(void)
if we have a vertical position estimate from the EKF then use if we have a vertical position estimate from the EKF then use
it, otherwise use barometric altitude it, otherwise use barometric altitude
*/ */
Vector3f posned; _ahrs.get_relative_position_D_home(_height);
if (_ahrs.get_relative_position_NED(posned)) { _height *= -1.0f;
_height = - posned.z;
} else {
_height = _ahrs.get_baro().get_altitude();
}
// Calculate time in seconds since last update // Calculate time in seconds since last update
uint64_t now = AP_HAL::micros64(); uint64_t now = AP_HAL::micros64();