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AP_NavEKF3: set origin on all cores

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when EKF origin is set, make sure it is set on all cores
This commit is contained in:
Andrew Tridgell 2019-07-27 15:29:15 +10:00
parent e9d51bb0c7
commit d43a386f83
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1053,7 +1053,12 @@ bool NavEKF3::setOriginLLH(const Location &loc)
if (!core) { if (!core) {
return false; return false;
} }
return core[primary].setOriginLLH(loc); bool ret = false;
for (uint8_t i=0; i<num_cores; i++) {
ret |= core[i].setOriginLLH(loc);
}
// return true if any core accepts the new origin
return ret;
} }
// return estimated height above ground level // return estimated height above ground level