From 0440903a8c599fff287ac98c9471d87d6f92340a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 11 Apr 2024 18:52:23 +1000 Subject: [PATCH] Blimp: remove redundant check for home-is-set this is done as part of the frame change --- Blimp/inertia.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Blimp/inertia.cpp b/Blimp/inertia.cpp index b46e03978d..05fa634384 100644 --- a/Blimp/inertia.cpp +++ b/Blimp/inertia.cpp @@ -20,7 +20,7 @@ void Blimp::read_inertia() // current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin const int32_t alt_above_origin_cm = inertial_nav.get_position_z_up_cm(); current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN); - if (!ahrs.home_is_set() || !current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) { + if (current_loc.initialised() && !current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) { // if home has not been set yet we treat alt-above-origin as alt-above-home current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_HOME); }