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AP_AHRS: fix get_relative_position_NE_home calcalation

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chobits 2017-08-17 10:59:06 +08:00 committed by Randy Mackay
parent 1875f0218f
commit d6845a911a
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -799,8 +799,8 @@ bool AP_AHRS_NavEKF::get_relative_position_NED_home(Vector3f &vec) const
Vector3f offset = location_3d_diff_NED(originLLH, _home); Vector3f offset = location_3d_diff_NED(originLLH, _home);
vec.x = originNED.x + offset.x; vec.x = originNED.x - offset.x;
vec.y = originNED.y + offset.y; vec.y = originNED.y - offset.y;
vec.z = originNED.z - offset.z; vec.z = originNED.z - offset.z;
return true; return true;
} }
@ -848,8 +848,8 @@ bool AP_AHRS_NavEKF::get_relative_position_NE_home(Vector2f &posNE) const
Vector2f offset = location_diff(originLLH, _home); Vector2f offset = location_diff(originLLH, _home);
posNE.x = originNE.x + offset.x; posNE.x = originNE.x - offset.x;
posNE.y = originNE.y + offset.y; posNE.y = originNE.y - offset.y;
return true; return true;
} }