|
|
|
@ -1,6 +1,6 @@
@@ -1,6 +1,6 @@
|
|
|
|
|
/****************************************************************************
|
|
|
|
|
* |
|
|
|
|
* Copyright (c) 2015 PX4 Development Team. All rights reserved. |
|
|
|
|
* Copyright (c) 2015-2017 PX4 Development Team. All rights reserved. |
|
|
|
|
* |
|
|
|
|
* Redistribution and use in source and binary forms, with or without |
|
|
|
|
* modification, are permitted provided that the following conditions |
|
|
|
@ -763,7 +763,7 @@ void Ekf2::task_main()
@@ -763,7 +763,7 @@ void Ekf2::task_main()
|
|
|
|
|
ev_data.posNED(0) = ev_pos.x; |
|
|
|
|
ev_data.posNED(1) = ev_pos.y; |
|
|
|
|
ev_data.posNED(2) = ev_pos.z; |
|
|
|
|
Quatf q(ev_att.q); |
|
|
|
|
matrix::Quatf q(ev_att.q); |
|
|
|
|
ev_data.quat = q; |
|
|
|
|
|
|
|
|
|
// position measurement error from parameters. TODO : use covariances from topic
|
|
|
|
|