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AP_NavEKF3: review fixes

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thanks Paul!
This commit is contained in:
Andrew Tridgell 2019-07-29 08:55:39 +10:00 committed by Randy Mackay
parent 056b96ab7a
commit 6f9553479b
2 changed files with 3 additions and 1 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -700,6 +700,9 @@ bool NavEKF3::InitialiseFilter(void)
// Set the primary initially to be the lowest index // Set the primary initially to be the lowest index
primary = 0; primary = 0;
// invalidate shared origin
common_origin_valid = false;
// initialise the cores. We return success only if all cores // initialise the cores. We return success only if all cores
// initialise successfully // initialise successfully
bool ret = true; bool ret = true;

1
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -484,7 +484,6 @@ bool NavEKF3_core::setOriginLLH(const Location &loc)
// Set the NED origin to be used until the next filter reset // Set the NED origin to be used until the next filter reset
void NavEKF3_core::setOrigin(const Location &loc) void NavEKF3_core::setOrigin(const Location &loc)
{ {
// assume origin at current GPS location (no averaging)
EKF_origin = loc; EKF_origin = loc;
// if flying, correct for height change from takeoff so that the origin is at field elevation // if flying, correct for height change from takeoff so that the origin is at field elevation
if (inFlight) { if (inFlight) {