Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: ensure home is always stored in ALT_FRAME_ABSOLUTE

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -1040,8 +1040,15 @@ bool AP_AHRS_DCM::set_home(const Location &loc)
if (!check_latlng(loc)) { if (!check_latlng(loc)) {
return false; 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; _home_is_set = true;
// log ahrs home and ekf origin dataflash // log ahrs home and ekf origin dataflash