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Copter: stop changing frame to home when home not set

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Peter Barker 2019-03-15 08:54:32 +11:00 committed by Randy Mackay
parent 08a18d6a0a
commit 17060d5d66
1 changed files with 4 additions and 5 deletions
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9
ArduCopter/inertia.cpp
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@ -15,13 +15,12 @@ void Copter::read_inertia()
return;
}
Location::AltFrame frame;
if (ahrs.home_is_set()) {
frame = Location::AltFrame::ABOVE_HOME;
current_loc.set_alt_cm(inertial_nav.get_altitude(),
Location::AltFrame::ABOVE_HOME);
} else {
// without home use alt above the EKF origin
frame = Location::AltFrame::ABOVE_ORIGIN;
current_loc.set_alt_cm(inertial_nav.get_altitude(),
Location::AltFrame::ABOVE_ORIGIN);
}
current_loc.set_alt_cm(inertial_nav.get_altitude(), frame);
current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME);
}