Copter: update pv_location_to_vector to use get_origin instead of get…

…_home
3drobotics · Feb 3, 2015 · 46cbbe7 · 46cbbe7
1 parent 4d5dfcf
commit 46cbbe7
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ArduCopter/position_vector.pde b/ArduCopter/position_vector.pde
@@ -10,8 +10,8 @@
 // pv_location_to_vector - convert lat/lon coordinates to a position vector
 Vector3f pv_location_to_vector(const Location& loc)
 {
-    const struct Location &temp_home = ahrs.get_home();
-    Vector3f tmp((loc.lat-temp_home.lat) * LATLON_TO_CM, (loc.lng-temp_home.lng) * LATLON_TO_CM * scaleLongDown, loc.alt);
+    const struct Location &origin = inertial_nav.get_origin();
+    Vector3f tmp((loc.lat-origin.lat) * LATLON_TO_CM, (loc.lng-origin.lng) * LATLON_TO_CM * scaleLongDown, loc.alt);
     return tmp;
 }