Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-30 20:48:33 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: set home using EKF position

Browse Source 
previously the home position could be set from DCM
This makes the setting of home slower but more accurate
This commit is contained in:
Randy Mackay 2017-09-18 17:22:51 +09:00
parent 894bf2a23f
commit de406da254
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/commands.cpp
View File

@ -17,7 +17,7 @@ bool Rover::set_home_to_current_location(bool lock)
{ {
// use position from EKF if available otherwise use GPS // use position from EKF if available otherwise use GPS
Location temp_loc; Location temp_loc;
if (ahrs.get_position(temp_loc)) { if (ahrs.have_inertial_nav() && ahrs.get_position(temp_loc)) {
return set_home(temp_loc, lock); return set_home(temp_loc, lock);
} }
return false; return false;