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Copter: AP_Arming: Added check for EKF origin altitude

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Arsh 2020-12-19 11:37:23 +05:30 committed by Randy Mackay
parent d964fa2307
commit 3c83eecf78
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/commands.cpp
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@ -107,7 +107,7 @@ bool Copter::far_from_EKF_origin(const Location& loc)
{ {
// check distance to EKF origin // check distance to EKF origin
Location ekf_origin; Location ekf_origin;
if (ahrs.get_origin(ekf_origin) && (ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M)) { if (ahrs.get_origin(ekf_origin) && ((ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M) || (labs(ekf_origin.alt - loc.alt) > EKF_ORIGIN_MAX_DIST_M))) {
return true; return true;
} }