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Rover: Reset home to AHRS location rather then snapshotting GPS

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Also corrects rover locking home altitude to EKF origin altitude
This commit is contained in:
Michael du Breuil 2017-02-27 12:14:51 -07:00 committed by Andrew Tridgell
parent fbf6050876
commit 51c97af5b5
1 changed files with 5 additions and 10 deletions
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15
APMrover2/commands.cpp
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@ -95,17 +95,12 @@ void Rover::restart_nav()
void Rover::update_home() void Rover::update_home()
{ {
if (home_is_set == HOME_SET_NOT_LOCKED) { if (home_is_set == HOME_SET_NOT_LOCKED) {
Location loc = gps.location(); Location loc;
Location origin; if (ahrs.get_position(loc)) {
// if an EKF origin is available then we leave home equal to ahrs.set_home(loc);
// the height of that origin. This ensures that our relative Log_Write_Home_And_Origin();
// height calculations are using the same origin GCS_MAVLINK::send_home_all(gps.location());
if (ahrs.get_origin(origin)) {
loc.alt = origin.alt;
} }
ahrs.set_home(loc);
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
} }
barometer.update_calibration(); barometer.update_calibration();
} }