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AP_AHRS: get_relative_position_D_home: don't use home until set

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Peter Barker 2023-01-04 11:59:35 +11:00 committed by Andrew Tridgell
parent 341d66800a
commit 3854e4a99d
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_AHRS/AP_AHRS.cpp
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@ -1773,6 +1773,13 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const
// will use the barometer if the EKF isn't available
void AP_AHRS::get_relative_position_D_home(float &posD) const
{
if (!_home_is_set) {
// fall back to an altitude derived from barometric pressure
// differences vs a calibrated ground pressure:
posD = -AP::baro().get_altitude();
return;
}
Location originLLH;
float originD;
if (!get_relative_position_D_origin(originD) ||