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AP_AHRS: ensure home is always stored in ALT_FRAME_ABSOLUTE

This commit is contained in:
Peter Barker 2019-02-21 08:39:37 +11:00 committed by Andrew Tridgell
parent 138d93702a
commit 3959780999
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1040,8 +1040,15 @@ bool AP_AHRS_DCM::set_home(const Location &loc)
if (!check_latlng(loc)) {
return false;
}
// home must always be global frame at the moment as .alt is
// accessed directly by the vehicles and they may not be rigorous
// in checking the frame type.
Location tmp = loc;
if (!tmp.change_alt_frame(Location::ALT_FRAME_ABSOLUTE)) {
return false;
}
_home = loc;
_home = tmp;
_home_is_set = true;
// log ahrs home and ekf origin dataflash