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Copter: always update current_loc regardless of inav state

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If inertial nav is not initialised these will be set to zero anyway
This commit is contained in:
Randy Mackay 2015-02-09 20:26:18 +09:00
parent 7029b11414
commit 9e156d2f81
1 changed files with 5 additions and 6 deletions
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11
ArduCopter/navigation.pde
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@ -16,12 +16,11 @@ static void run_nav_updates(void)
} }
// calc_position - get lat and lon positions from inertial nav library // calc_position - get lat and lon positions from inertial nav library
static void calc_position(){ static void calc_position()
if (ap.home_is_set) { {
// pull position from interial nav library // pull position from interial nav library
current_loc.lng = inertial_nav.get_longitude(); current_loc.lng = inertial_nav.get_longitude();
current_loc.lat = inertial_nav.get_latitude(); current_loc.lat = inertial_nav.get_latitude();
}
} }
// calc_distance_and_bearing - calculate distance and bearing to next waypoint and home // calc_distance_and_bearing - calculate distance and bearing to next waypoint and home