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AP_NavEKF2: avoid direct use of Location alt field

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Peter Barker 2022-01-29 20:48:27 +11:00 committed by Andrew Tridgell
parent 33b7f8f46e
commit 83011580f3
1 changed files with 2 additions and 7 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -285,9 +285,7 @@ bool NavEKF2_core::getLLH(struct Location &loc) const
if(getPosD(posD) && getOriginLLH(origin)) { if(getPosD(posD) && getOriginLLH(origin)) {
// Altitude returned is an absolute altitude relative to the WGS-84 spherioid // Altitude returned is an absolute altitude relative to the WGS-84 spherioid
loc.alt = origin.alt - posD*100; loc.set_alt_cm(origin.alt - posD*100, Location::AltFrame::ABSOLUTE);
loc.relative_alt = 0;
loc.terrain_alt = 0;
// there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding) // there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding)
if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) { if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
@ -322,10 +320,7 @@ bool NavEKF2_core::getLLH(struct Location &loc) const
// If no origin has been defined for the EKF, then we cannot use its position states so return a raw // If no origin has been defined for the EKF, then we cannot use its position states so return a raw
// GPS reading if available and return false // GPS reading if available and return false
if ((gps.status() >= AP_DAL_GPS::GPS_OK_FIX_3D)) { if ((gps.status() >= AP_DAL_GPS::GPS_OK_FIX_3D)) {
const struct Location &gpsloc = gps.location(); loc = gps.location();
loc = gpsloc;
loc.relative_alt = 0;
loc.terrain_alt = 0;
} }
return false; return false;
} }