From e2901a7c2f3b36e8b0d99aa14f127f3e6e221f9c Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Wed, 17 Feb 2016 11:53:35 -0800 Subject: [PATCH] ekf2: use yaw estimation of ekf for local position yaw value --- src/modules/ekf2/ekf2_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index aac11c25fe..dfacd2366c 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -488,7 +488,7 @@ void Ekf2::task_main() lpos.ref_lon = ekf_origin.lon_rad * 180.0 / M_PI; // Reference point longitude in degrees // The rotation of the tangent plane vs. geographical north - lpos.yaw = 0.0f; + lpos.yaw = att.yaw; lpos.dist_bottom = -pos[2] + lpos.ref_alt; // Distance to bottom surface (ground) in meters lpos.dist_bottom_rate = -vel[2]; // Distance to bottom surface (ground) change rate