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AP_NavEKF2: getLLH fix when no GPS available

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Randy Mackay 2020-04-24 15:02:19 +09:00 committed by Andrew Tridgell
parent a41c846a8c
commit 59adb2adda
1 changed files with 2 additions and 0 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -343,6 +343,8 @@ bool NavEKF2_core::getLLH(struct Location &loc) const
} else {
// if no GPS fix, provide last known position before entering the mode
// correct for IMU offset (EKF calculations are at the IMU position)
loc.lat = EKF_origin.lat;
loc.lng = EKF_origin.lng;
loc.offset((lastKnownPositionNE.x + posOffsetNED.x), (lastKnownPositionNE.y + posOffsetNED.y));
return false;
}