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AP_AHRS: support set_origin and get_origin for EKF 10

This commit is contained in:
Andrew Tridgell 2017-05-02 19:36:15 +10:00
parent 47b79eb72d
commit b6568b1c7e
1 changed files with 11 additions and 2 deletions
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13
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -587,6 +587,14 @@ bool AP_AHRS_NavEKF::set_origin(const Location &loc)
case EKF_TYPE3:
return ret3;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKF_TYPE_SITL: {
struct SITL::sitl_fdm &fdm = _sitl->state;
fdm.home = loc;
return true;
}
#endif
default:
return false;
}
@ -1411,8 +1419,9 @@ bool AP_AHRS_NavEKF::get_origin(Location &ret) const
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKF_TYPE_SITL:
ret = get_home();
return ret.lat != 0 || ret.lng != 0;
const struct SITL::sitl_fdm &fdm = _sitl->state;
ret = fdm.home;
return true;
#endif
}
}