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Copter: reset ekf height if arming before home set

This commit is contained in:
Randy Mackay 2015-06-24 15:54:26 +09:00
parent 9f17fc17ab
commit 14cf9b1621
1 changed files with 5 additions and 2 deletions
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5
ArduCopter/motors.cpp
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@ -153,8 +153,11 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
initial_armed_bearing = ahrs.yaw_sensor;
if (ap.home_state == HOME_UNSET) {
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
ahrs.get_NavEKF().resetHeightDatum();
} else if (ap.home_state == HOME_SET_NOT_LOCKED) {
// Reset home position if it has already been set before (but not locked)
if (ap.home_state == HOME_SET_NOT_LOCKED) {
set_home_to_current_location();
}
calc_distance_and_bearing();