From 3ff091efb62650326d44bc8014cfb41ad3f34fda Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Tue, 25 Dec 2012 12:39:25 +0900
Subject: [PATCH] ArduCopter: inertial nav - only initialise horizontal
 position when home is initialised

---
 ArduCopter/commands.pde | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index 8833b4f71c..41d7f5c3a4 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -190,8 +190,6 @@ static void init_home()
 #if INERTIAL_NAV_XY == ENABLED
     // set inertial nav's home position
     inertial_nav.set_current_position(g_gps->longitude, g_gps->latitude);
-    inertial_nav.set_altitude(home.alt);
-    inertial_nav.set_velocity_z(0);
 #endif
 
     if (g.log_bitmask & MASK_LOG_CMD)