mirror of https://github.com/ArduPilot/ardupilot
Copter: home-alt set to EKF-origin if captured in flight
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@ -15,9 +15,25 @@ static void update_home_from_EKF()
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return;
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}
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// special logic if home is set in-flight
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if (motors.armed()) {
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set_home_to_current_location_inflight();
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} else {
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// move home to current ekf location (this will set home_state to HOME_SET)
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set_home_to_current_location();
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}
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}
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// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin+ takeoff_alt_above_origin
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static void set_home_to_current_location_inflight() {
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// get current location from EKF
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Location temp_loc;
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if (inertial_nav.get_location(temp_loc)) {
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const struct Location &ekf_origin = inertial_nav.get_origin();
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temp_loc.alt = ekf_origin.alt;
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set_home(temp_loc);
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}
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}
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// set_home_to_current_location - set home to current GPS location
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static bool set_home_to_current_location() {
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