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Plane: Reset home to AHRS position rather then snapshotting GPS

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This commit is contained in:
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;
}
if (home_is_set == HOME_SET_NOT_LOCKED) {
Location loc = gps.location();
ahrs.set_home(loc);
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(loc);
Location loc;
if(ahrs.get_position(loc)) {
ahrs.set_home(loc);
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(loc);
}
}
barometer.update_calibration();
}