From f15cd031e8788113c34119bf5dd7f21dfe47b04f Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Wed, 26 Nov 2014 16:12:18 +0100 Subject: [PATCH] [modules] mission_rotorcraft: only check for ned_initialized_i --- sw/airborne/modules/mission/mission_rotorcraft_nav.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sw/airborne/modules/mission/mission_rotorcraft_nav.c b/sw/airborne/modules/mission/mission_rotorcraft_nav.c index 76c55911836..44fadf73e44 100644 --- a/sw/airborne/modules/mission/mission_rotorcraft_nav.c +++ b/sw/airborne/modules/mission/mission_rotorcraft_nav.c @@ -39,9 +39,9 @@ /// Utility function: converts lla (int) to local point (float) bool_t mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla) { - // return FALSE if there is no valid local coordinate - // FIXME we should only test if local frame is initialized, not valid - if (!stateIsLocalCoordinateValid()) return FALSE; + // return FALSE if there is no valid local coordinate system + if (!state.ned_initialized_i) + return FALSE; // change geoid alt to ellipsoid alt lla->alt = lla->alt - state.ned_origin_i.hmsl + state.ned_origin_i.lla.alt;