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[paparazzi-commits] [4234] hmsl0 init
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4234] hmsl0 init |
Date: |
Tue, 06 Oct 2009 09:38:30 +0000 |
Revision: 4234
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4234
Author: gautier
Date: 2009-10-06 09:38:30 +0000 (Tue, 06 Oct 2009)
Log Message:
-----------
hmsl0 init
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/booz2_ins.c
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_ins.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_ins.c 2009-10-06 09:37:36 UTC
(rev 4233)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_ins.c 2009-10-06 09:38:30 UTC
(rev 4234)
@@ -89,12 +89,14 @@
struct LlaCoor_i llh; /* Height above the ellipsoid */
llh.lat = INT32_RAD_OF_DEG(NAV_LAT0);
llh.lon = INT32_RAD_OF_DEG(NAV_LON0);
- llh.alt = NAV_ALT0 - booz_ins_ltp_def.hmsl + booz_ins_ltp_def.lla.alt;
+ //llh.alt = NAV_ALT0 - booz_ins_ltp_def.hmsl + booz_ins_ltp_def.lla.alt;
+ llh.alt = NAV_ALT0 + NAV_HMSL0;
struct EcefCoor_i nav_init;
ecef_of_lla_i(&nav_init, &llh);
ltp_def_from_ecef_i(&booz_ins_ltp_def, &nav_init);
+ booz_ins_ltp_def.hmsl = NAV_ALT0;
#else
booz_ins_ltp_initialised = FALSE;
#endif
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