Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: Added public function to get NED position

Browse Source
This commit is contained in:
Paul Riseborough 2013-12-31 15:27:35 +11:00 committed by Andrew Tridgell
parent 2c567cd721
commit cb42e1e490
1 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -1887,6 +1887,14 @@ void NavEKF::getVelNED(Vector3f &vel)
vel.z = states[6]; vel.z = states[6];
} }
bool NavEKF::getPosNED(Vector3f &pos)
{
pos.x = states[7];
pos.y = states[8];
pos.z = states[9];
return true;
}
void NavEKF::calcposNE(float lat, float lon) void NavEKF::calcposNE(float lat, float lon)
{ {
posNE[0] = RADIUS_OF_EARTH * (lat - latRef); posNE[0] = RADIUS_OF_EARTH * (lat - latRef);