From 51c97af5b54289bf5bd963bf1b11db552e7a9708 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Mon, 27 Feb 2017 12:14:51 -0700
Subject: [PATCH] Rover: Reset home to AHRS location rather then snapshotting
GPS
Also corrects rover locking home altitude to EKF origin altitude
---
APMrover2/commands.cpp | 15 +++++----------
1 file changed, 5 insertions(+), 10 deletions(-)
diff --git a/APMrover2/commands.cpp b/APMrover2/commands.cpp
index 3b5987ef8f..d52dba6a4e 100644
--- a/APMrover2/commands.cpp
+++ b/APMrover2/commands.cpp
@@ -95,17 +95,12 @@ void Rover::restart_nav()
void Rover::update_home()
{
if (home_is_set == HOME_SET_NOT_LOCKED) {
- Location loc = gps.location();
- Location origin;
- // if an EKF origin is available then we leave home equal to
- // the height of that origin. This ensures that our relative
- // height calculations are using the same origin
- if (ahrs.get_origin(origin)) {
- loc.alt = origin.alt;
+ Location loc;
+ if (ahrs.get_position(loc)) {
+ ahrs.set_home(loc);
+ Log_Write_Home_And_Origin();
+ GCS_MAVLINK::send_home_all(gps.location());
}
- ahrs.set_home(loc);
- Log_Write_Home_And_Origin();
- GCS_MAVLINK::send_home_all(gps.location());
}
barometer.update_calibration();
}