From 66fe3ab583da9120434bb2f1bdcdfbc1022c4f51 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 11 Apr 2016 18:18:53 +1000
Subject: [PATCH] ekf2: Use corrected local position and velocity

Corrects for IMU offset from body frame origin
---
 src/modules/ekf2/ekf2_main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 57797cdb3d..ac6f09b8c3 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -580,13 +580,13 @@ void Ekf2::task_main()
 
 			lpos.timestamp = hrt_absolute_time();
 
-			// Position in local NED frame
+			// Position of body origin in local NED frame
 			_ekf->get_position(pos);
 			lpos.x = pos[0];
 			lpos.y = pos[1];
 			lpos.z = pos[2];
 
-			// Velocity in NED frame (m/s)
+			// Velocity of body origin in local NED frame (m/s)
 			_ekf->get_velocity(vel);
 			lpos.vx = vel[0];
 			lpos.vy = vel[1];