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Plane: Reset home to AHRS position rather then snapshotting GPS

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Michael du Breuil 2017-02-27 12:14:29 -07:00 committed by Andrew Tridgell
parent adf215998f
commit fbf6050876
1 changed files with 6 additions and 4 deletions
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10
ArduPlane/commands.cpp
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@ -136,10 +136,12 @@ void Plane::update_home()
return; return;
} }
if (home_is_set == HOME_SET_NOT_LOCKED) { if (home_is_set == HOME_SET_NOT_LOCKED) {
Location loc = gps.location(); Location loc;
ahrs.set_home(loc); if(ahrs.get_position(loc)) {
Log_Write_Home_And_Origin(); ahrs.set_home(loc);
GCS_MAVLINK::send_home_all(loc); Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(loc);
}
} }
barometer.update_calibration(); barometer.update_calibration();
} }