From c51c211bbaef70defe73c91f6acd6ab99f0f3a04 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 12 Jul 2013 08:45:49 +0400 Subject: [PATCH] position_estimator_inav: global position altitude fixed --- .../position_estimator_inav/position_estimator_inav_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 9db2633c68..3b0fbd7823 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -548,7 +548,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon); global_pos.lat = (int32_t)(est_lat * 1e7); global_pos.lon = (int32_t)(est_lon * 1e7); - global_pos.alt = -local_pos.z - local_pos.home_alt; + global_pos.alt = local_pos.home_alt - local_pos.z; global_pos.relative_alt = -local_pos.z; global_pos.vx = local_pos.vx; global_pos.vy = local_pos.vy;