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AP_NavEKF3: avoid direct use of Location alt field

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Peter Barker 2022-01-29 20:48:28 +11:00 committed by Andrew Tridgell
parent 83011580f3
commit df4911cbcb
1 changed files with 1 additions and 3 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -278,9 +278,7 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
float posD;
if(getPosD(posD) && PV_AidingMode != AID_NONE) {
// Altitude returned is an absolute altitude relative to the WGS-84 spherioid
loc.alt = origin.alt - posD*100;
loc.relative_alt = 0;
loc.terrain_alt = 0;
loc.set_alt_cm(origin.alt - posD*100, Location::AltFrame::ABSOLUTE);
if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
// The EKF is able to provide a position estimate
loc.lat = EKF_origin.lat;