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Tracker: update how current_loc gets location

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Get position from EKF but fall back to GPS if that fails
This commit is contained in:
stefanlynka 2016-07-14 17:12:17 +09:00 committed by Randy Mackay
parent a693f9ead6
commit 16c9023cf0
1 changed files with 1 additions and 1 deletions
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2
AntennaTracker/tracking.cpp
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@ -35,7 +35,7 @@ void Tracker::update_tracker_position()
{ {
// update our position if we have at least a 2D fix // update our position if we have at least a 2D fix
// REVISIT: what if we lose lock during a mission and the antenna is moving? // REVISIT: what if we lose lock during a mission and the antenna is moving?
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) { if (!ahrs.get_position(current_loc) && (gps.status() >= AP_GPS::GPS_OK_FIX_2D)) {
current_loc = gps.location(); current_loc = gps.location();
} }
} }