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position_estimator_inav: global position altitude fixed

This commit is contained in:
Anton Babushkin 2013-07-12 08:45:49 +04:00
parent c291c4482a
commit c51c211bba
1 changed files with 1 additions and 1 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -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); map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
global_pos.lat = (int32_t)(est_lat * 1e7); global_pos.lat = (int32_t)(est_lat * 1e7);
global_pos.lon = (int32_t)(est_lon * 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.relative_alt = -local_pos.z;
global_pos.vx = local_pos.vx; global_pos.vx = local_pos.vx;
global_pos.vy = local_pos.vy; global_pos.vy = local_pos.vy;