From 67695f191ea6f528971c6d2da3dcac66540d7be9 Mon Sep 17 00:00:00 2001
From: Johan Jansen <jnsn.johan@gmail.com>
Date: Thu, 12 Mar 2015 13:17:51 +0100
Subject: [PATCH] AttPosEKF: Use Geolib lat/lon position projection

---
 .../ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp  | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 3bb395a870..dfe3f5357c 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -908,8 +908,7 @@ void AttitudePositionEstimatorEKF::publishWindEstimate()
 }
 
 void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const bool fuseMag,
-		const bool fuseRangeSensor,
-		const bool fuseBaro, const bool fuseAirSpeed)
+		const bool fuseRangeSensor, const bool fuseBaro, const bool fuseAirSpeed)
 {
 	// Run the strapdown INS equations every IMU update
 	_ekf->UpdateStrapdownEquationsNED();
@@ -1324,10 +1323,7 @@ void AttitudePositionEstimatorEKF::pollData()
 			if (_gps_initialized) {
 
 				//Convert from global frame to local frame
-				float posNED[3] = {0.0f, 0.0f, 0.0f};
-				_ekf->calcposNED(posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef);
-				_ekf->posNE[0] = posNED[0];
-				_ekf->posNE[1] = posNED[1];
+				map_projection_project(&_pos_ref, (_gps.lat / 1.0e7), (_gps.lon / 1.0e7), &_ekf->posNE[0], &_ekf->posNE[1]);
 
 				if (dtLastGoodGPS > POS_RESET_THRESHOLD) {
 					_ekf->ResetPosition();