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InertialNav: get_origin returns zero when no origin

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If the EKF has not yet set the origin return location of all zeros
instead of uninitialised location
This commit is contained in:
Randy Mackay 2015-02-15 11:07:33 +09:00
parent da4a36c4e0
commit 8e75c9580c
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
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@ -57,7 +57,10 @@ nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
struct Location AP_InertialNav_NavEKF::get_origin() const { struct Location AP_InertialNav_NavEKF::get_origin() const {
if (_ahrs.have_inertial_nav()) { if (_ahrs.have_inertial_nav()) {
struct Location ret; struct Location ret;
_ahrs_ekf.get_NavEKF().getOriginLLH(ret); if (!_ahrs_ekf.get_NavEKF().getOriginLLH(ret)) {
// initialise location to all zeros if origin not yet set
memset(&ret, 0, sizeof(ret));
}
return ret; return ret;
} }
return AP_InertialNav::get_origin(); return AP_InertialNav::get_origin();