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Fixes to altitude units

This commit is contained in:
Lorenz Meier 2014-03-03 14:23:49 +01:00
parent 862ad8fc58
commit a16742f2eb
1 changed files with 7 additions and 6 deletions
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13
src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
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@ -701,23 +701,24 @@ FixedwingEstimator::task_main()
velNED[0] = _gps.vel_n_m_s;
velNED[1] = _gps.vel_e_m_s;
velNED[2] = _gps.vel_d_m_s;
double lat = _gps.lat * 1e-7;
double lon = _gps.lon * 1e-7;
float alt = _gps.alt * 1e-3;
InitialiseFilter(velNED);
// Initialize projection
_local_pos.ref_lat = _gps.lat;
_local_pos.ref_lon = _gps.lon;
_local_pos.ref_alt = _gps.alt;
_local_pos.ref_alt = alt;
_local_pos.ref_timestamp = _gps.timestamp_position;
// Store
_baro_ref = baroHgt;
_baro_gps_offset = baroHgt - _gps.alt;
_baro_gps_offset = baroHgt - alt;
// XXX this is not multithreading safe
double lat = _gps.lat * 1e-7;
double lon = _gps.lon * 1e-7;
float alt = _gps.alt * 1e-3;
map_projection_init(lat, lon);
mavlink_log_info(_mavlink_fd, "[position estimator] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);