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AP_NavEKF3: Fix LLH reporting bug

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This commit is contained in:
Paul Riseborough 2020-12-12 11:11:29 +11:00 committed by Andrew Tridgell
parent ddadc45854
commit adae7365e1
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -297,7 +297,7 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
Location origin;
float posD;
if(getPosD(posD) && getOriginLLH(origin)) {
if(getPosD(posD) && getOriginLLH(origin) && PV_AidingMode != AID_NONE) {
// Altitude returned is an absolute altitude relative to the WGS-84 spherioid
loc.alt = origin.alt - posD*100;
loc.relative_alt = 0;
@ -331,8 +331,8 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
}
}
} else {
// If no origin has been defined for the EKF, then we cannot use its position states so return a raw
// GPS reading if available and return false
// If no origin has been defined for the EKF or it is not estimating position, then we cannot
// use its position states so return a raw GPS reading if available and return false
if ((gps.status(selected_gps) >= AP_DAL_GPS::GPS_OK_FIX_3D)) {
const struct Location &gpsloc = gps.location(selected_gps);
loc = gpsloc;