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AP_NavEKF: Fix bug preventing home position being set by copter

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The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement.
This enables this function to be used to set a home position before flight.
This commit is contained in:
Paul Riseborough 2015-05-02 17:32:57 +10:00 committed by Randy Mackay
parent 0812e16008
commit be04be9b43
2 changed files with 8 additions and 4 deletions
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7
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3755,7 +3755,9 @@ bool NavEKF::getMagOffsets(Vector3f &magOffsets) const
} }
// Return the last calculated latitude, longitude and height in WGS-84 // Return the last calculated latitude, longitude and height in WGS-84
// If a calculated location isn't available, return false and the raw GPS measurement or last known position if available // If a calculated location isn't available, return a raw GPS measurement
// The status will return true if a calculation or raw measurement is available
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool NavEKF::getLLH(struct Location &loc) const bool NavEKF::getLLH(struct Location &loc) const
{ {
if(validOrigin) { if(validOrigin) {
@ -3778,11 +3780,12 @@ bool NavEKF::getLLH(struct Location &loc) const
// we have a GPS position fix to return // we have a GPS position fix to return
const struct Location &gpsloc = _ahrs->get_gps().location(); const struct Location &gpsloc = _ahrs->get_gps().location();
loc = gpsloc; loc = gpsloc;
return true;
} else { } else {
// if no GPS fix, provide last known position before entering the mode // if no GPS fix, provide last known position before entering the mode
location_offset(loc, lastKnownPositionNE.x, lastKnownPositionNE.y); location_offset(loc, lastKnownPositionNE.x, lastKnownPositionNE.y);
return false;
} }
return false;
} }
} else { } else {
// If no origin has been defined for the EKF, then we cannot use its position states so return a raw // If no origin has been defined for the EKF, then we cannot use its position states so return a raw

5
libraries/AP_NavEKF/AP_NavEKF.h
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@ -154,8 +154,9 @@ public:
bool getMagOffsets(Vector3f &magOffsets) const; bool getMagOffsets(Vector3f &magOffsets) const;
// Return the last calculated latitude, longitude and height in WGS-84 // Return the last calculated latitude, longitude and height in WGS-84
// If a calculated location isn't available, return false and the raw GPS measurement or last known position if available // If a calculated location isn't available, return a raw GPS measurement
// If false returned, do not use for flight control // The status will return true if a calculation or raw measurement is available
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool getLLH(struct Location &loc) const; bool getLLH(struct Location &loc) const;
// return the latitude and longitude and height used to set the NED origin // return the latitude and longitude and height used to set the NED origin