From fb1962b111ff315a2422403f8876ea6ebd0c9f84 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Fri, 9 Jan 2015 21:08:44 +1100
Subject: [PATCH] AP_NavEKF: Let reported position whilst disarmed show
 inertial errors

Showing the positon states (which are nominally zero) in addition to the last known offset can provide useful log information.
---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 33bd18fcb0..09edea49c9 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3528,8 +3528,8 @@ void NavEKF::getVelNED(Vector3f &vel) const
 bool NavEKF::getPosNED(Vector3f &pos) const
 {
     if (constPosMode) {
-        pos.x = lastKnownPositionNE.x;
-        pos.y = lastKnownPositionNE.y;
+        pos.x = state.position.x + lastKnownPositionNE.x;
+        pos.y = state.position.y + lastKnownPositionNE.y;
     } else {
         pos.x = state.position.x;
         pos.y = state.position.y;