[paparazzi-commits] [4234] hmsl0 init

[Gautier Hattenberger]

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