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Plane: prevent a discrepancy between EKF origin and home for altitude

This commit is contained in:
Andrew Tridgell 2016-05-29 15:47:26 +10:00
parent ba3576f027
commit f96836ab9a
1 changed files with 9 additions and 1 deletions
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10
ArduPlane/commands.cpp
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@ -131,7 +131,15 @@ void Plane::init_home()
void Plane::update_home()
{
if (home_is_set == HOME_SET_NOT_LOCKED) {
ahrs.set_home(gps.location());
Location loc = gps.location();
Location origin;
// if an EKF origin is available then we leave home equal to
// the height of that origin. This ensures that our relative
// height calculations are using the same origin
if (ahrs.get_origin(origin)) {
loc.alt = origin.alt;
}
ahrs.set_home(loc);
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
}