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ArduCopter: use AHRS to get Locations from origin-offset

This commit is contained in:
Peter Barker 2023-09-06 17:21:13 +10:00 committed by Andrew Tridgell
parent 72f485b5a5
commit 0b225a825c
1 changed files with 7 additions and 3 deletions
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10
ArduCopter/mode_circle.cpp
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@ -26,9 +26,13 @@ bool ModeCircle::init(bool ignore_checks)
// Check if the CIRCLE_OPTIONS parameter have roi_at_center
if (copter.circle_nav->roi_at_center()) {
Vector3p loc = copter.circle_nav->get_center();
loc.z = 0;
Location circle_center(loc, Location::AltFrame::ABOVE_TERRAIN);
const Vector3p &pos { copter.circle_nav->get_center() };
Location circle_center;
if (!AP::ahrs().get_location_from_origin_offset(circle_center, pos * 0.01)) {
return false;
}
// point at the ground:
circle_center.set_alt_cm(0, Location::AltFrame::ABOVE_TERRAIN);
s->set_roi_target(circle_center);
}
#endif