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ekf2: use yaw estimation of ekf for local position yaw value

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bugobliterator
2016-02-17 11:53:35 -08:00
committed by Lorenz Meier
parent d33dbb8cbb
commit e2901a7c2f
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/ekf2_main.cpp
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@@ -488,7 +488,7 @@ void Ekf2::task_main()
lpos.ref_lon = ekf_origin.lon_rad * 180.0 / M_PI; // Reference point longitude in degrees 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 // 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 = -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 lpos.dist_bottom_rate = -vel[2]; // Distance to bottom surface (ground) change rate