From 2919491298a3bf0bd7a96cdad08615b90096e31c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 24 Apr 2020 15:02:19 +0900
Subject: [PATCH] AP_NavEKF2: getLLH fix when no GPS available

---
 libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 32dabcc2f7..bd5ce7ce86 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -349,6 +349,8 @@ bool NavEKF2_core::getLLH(struct Location &loc) const
             } else {
                 // if no GPS fix, provide last known position before entering the mode
                 // correct for IMU offset (EKF calculations are at the IMU position)
+                loc.lat = EKF_origin.lat;
+                loc.lng = EKF_origin.lng;
                 loc.offset((lastKnownPositionNE.x + posOffsetNED.x), (lastKnownPositionNE.y + posOffsetNED.y));
                 return false;
             }