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Copter: update inertial alt only after home is set

This commit is contained in:
Randy Mackay 2015-02-26 14:17:02 +09:00
parent 2bec00e1c5
commit c3bdb9a13e
1 changed files with 5 additions and 0 deletions
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ArduCopter/inertia.pde
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@ -10,6 +10,11 @@ static void read_inertia()
// read_inertial_altitude - pull altitude and climb rate from inertial nav library
static void read_inertial_altitude()
{
// exit immediately if we do not have an altitude estimate or home is not set
if (!inertial_nav.get_filter_status().flags.vert_pos || (ap.home_state == HOME_UNSET)) {
return;
}
// with inertial nav we can update the altitude and climb rate at 50hz
current_loc.alt = pv_alt_above_home(inertial_nav.get_altitude());
current_loc.flags.relative_alt = true;