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AP_Common: fail attempts to use frame-above-home if home is not set

This commit is contained in:
Peter Barker 2018-05-30 10:34:09 +10:00 committed by Francisco Ferreira
parent 3694f085dc
commit 9a345160c1
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Common/Location.cpp
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@ -142,6 +142,9 @@ bool Location_Class::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) co
alt_abs = alt;
break;
case ALT_FRAME_ABOVE_HOME:
if (!_ahrs->home_is_set()) {
return false;
}
alt_abs = alt + _ahrs->get_home().alt;
break;
case ALT_FRAME_ABOVE_ORIGIN:
@ -168,6 +171,9 @@ bool Location_Class::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) co
ret_alt_cm = alt_abs;
return true;
case ALT_FRAME_ABOVE_HOME:
if (!_ahrs->home_is_set()) {
return false;
}
ret_alt_cm = alt_abs - _ahrs->get_home().alt;
return true;
case ALT_FRAME_ABOVE_ORIGIN: