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Copter: correct current_loc to be alt-above-home

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This commit is contained in:
Randy Mackay 2020-02-01 16:55:28 +09:00
parent 77865e9f78
commit 58362a9e6a
1 changed files with 6 additions and 7 deletions
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13
ArduCopter/inertia.cpp
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@ -17,12 +17,11 @@ void Copter::read_inertia()
return; return;
} }
if (ahrs.home_is_set()) { // current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin
current_loc.set_alt_cm(inertial_nav.get_altitude(), const int32_t alt_above_origin_cm = inertial_nav.get_altitude();
Location::AltFrame::ABOVE_HOME); current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN);
} else { if (!current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) {
// without home use alt above the EKF origin // if home has not been set yet we treat alt-above-origin as alt-above-home
current_loc.set_alt_cm(inertial_nav.get_altitude(), current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_HOME);
Location::AltFrame::ABOVE_ORIGIN);
} }
} }