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Plane: Reduce inerital nav dependence

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Michael du Breuil 2019-06-28 14:31:44 -07:00 committed by Randy Mackay
parent 13840337ec
commit 22598b1a4b
2 changed files with 5 additions and 2 deletions
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2
ArduPlane/ArduPlane.cpp
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@ -166,7 +166,7 @@ void Plane::ahrs_update()
quadplane.check_yaw_reset(); quadplane.check_yaw_reset();
// update inertial_nav for quadplane // update inertial_nav for quadplane
quadplane.inertial_nav.update(G_Dt); quadplane.inertial_nav.update();
} }
/* /*

5
ArduPlane/quadplane.cpp
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@ -2254,7 +2254,10 @@ void QuadPlane::vtol_position_controller(void)
void QuadPlane::setup_target_position(void) void QuadPlane::setup_target_position(void)
{ {
const Location &loc = plane.next_WP_loc; const Location &loc = plane.next_WP_loc;
Location origin = inertial_nav.get_origin(); Location origin;
if (!ahrs.get_origin(origin)) {
origin.zero();
}
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
const Vector2f diff2d = origin.get_distance_NE(loc); const Vector2f diff2d = origin.get_distance_NE(loc);