Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Blimp: eliminate AP::ahrs().get_location

This commit is contained in:
Peter Barker 2021-08-27 13:05:01 +10:00 committed by Andrew Tridgell
parent 80a56a5fdf
commit 81fc725435
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Blimp/commands.cpp
View File

@ -25,7 +25,7 @@ void Blimp::set_home_to_current_location_inflight()
// get current location from EKF
Location temp_loc;
Location ekf_origin;
if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
if (ahrs.get_position(temp_loc) && ahrs.get_origin(ekf_origin)) {
temp_loc.alt = ekf_origin.alt;
if (!set_home(temp_loc, false)) {
return;
@ -38,7 +38,7 @@ bool Blimp::set_home_to_current_location(bool lock)
{
// get current location from EKF
Location temp_loc;
if (ahrs.get_location(temp_loc)) {
if (ahrs.get_position(temp_loc)) {
if (!set_home(temp_loc, lock)) {
return false;
}