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ekf2_main: fix variable pass type

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This commit is contained in:
bugobliterator
2016-01-29 17:12:48 -08:00
committed by Roman
parent 92f2492fff
commit 6ffcca4b8f
1 changed files with 2 additions and 2 deletions
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4
src/modules/ekf2/ekf2_main.cpp
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@@ -407,7 +407,7 @@ void Ekf2::task_main()
// Position of local NED origin in GPS / WGS84 frame
struct map_projection_reference_s ekf_origin = {};
_ekf->get_ekf_origin(lpos.ref_timestamp,ekf_origin,lpos.ref_alt);
_ekf->get_ekf_origin(&lpos.ref_timestamp,&ekf_origin,&lpos.ref_alt);
lpos.xy_global = _ekf->position_is_valid(); // true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
lpos.z_global = true; // true if z is valid and has valid global reference (ref_alt)
lpos.ref_lat = ekf_origin.lat_rad * 180.0 / M_PI; // Reference point latitude in degrees
@@ -483,7 +483,7 @@ void Ekf2::task_main()
global_pos.time_utc_usec = gps.time_utc_usec; // GPS UTC timestamp in microseconds
double est_lat, est_lon;
map_projection_reproject(ekf_origin, lpos.x, lpos.y, &est_lat, &est_lon);
map_projection_reproject(&ekf_origin, lpos.x, lpos.y, &est_lat, &est_lon);
global_pos.lat = est_lat; // Latitude in degrees
global_pos.lon = est_lon; // Longitude in degrees