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AP_NavEKF3: getLLH fix when no GPS available

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Randy Mackay 2020-04-24 15:04:39 +09:00
parent a6b825324a
commit e87e16cc0f
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -339,6 +339,8 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
return true; 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
loc.lat = EKF_origin.lat;
loc.lng = EKF_origin.lng;
loc.offset(lastKnownPositionNE.x, lastKnownPositionNE.y); loc.offset(lastKnownPositionNE.x, lastKnownPositionNE.y);
return false; return false;
} }