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EKF2: Fix home altitude reporting

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Lorenz Meier
2016-02-10 08:38:03 +01:00
parent aab63c78f9
commit 3edf304e55
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/ekf2_main.cpp
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@@ -496,7 +496,7 @@ void Ekf2::task_main()
global_pos.lat = est_lat; // Latitude in degrees
global_pos.lon = est_lon; // Longitude in degrees
global_pos.alt = -pos[2]; // Altitude AMSL in meters
global_pos.alt = -pos[2] + lpos.ref_alt; // Altitude AMSL in meters
global_pos.vel_n = vel[0]; // Ground north velocity, m/s
global_pos.vel_e = vel[1]; // Ground east velocity, m/s