mirror of https://github.com/ArduPilot/ardupilot
Copter: Access EKF origin through AHRS object
Enables EKF2 use
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@ -32,7 +32,7 @@ void Copter::ekf_check()
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{
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{
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// exit immediately if ekf has no origin yet - this assumes the origin can never become unset
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// exit immediately if ekf has no origin yet - this assumes the origin can never become unset
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Location temp_loc;
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Location temp_loc;
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if (!ahrs.get_NavEKF_const().getOriginLLH(temp_loc)) {
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if (!ahrs.get_origin(temp_loc)) {
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return;
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return;
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}
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}
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