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Copter: update home position when disarmed

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This resolves the issue in which the vehicle's position jumped back to
it's home location when disarmed and using the EKF.  This also makes
copter consistent with plane.
This commit is contained in:
Randy Mackay 2015-01-05 13:51:20 +09:00
parent fd0b82f669
commit 58ac9de94b
2 changed files with 19 additions and 0 deletions
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5
ArduCopter/ArduCopter.pde
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@ -1211,6 +1211,11 @@ static void update_GPS(void)
// start again if we lose 3d lock
ground_start_count = 10;
}
} else {
// update home position when not armed
if (!motors.armed()) {
update_home();
}
}
//If we are not currently armed, and we're ready to

14
ArduCopter/commands.pde
View File

@ -26,5 +26,19 @@ static void init_home()
scaleLongUp = 1.0f/scaleLongDown;
}
// update_home - reset home to current location
// should be called only when vehicle is disarmed
static void update_home()
{
// copter uses 0 home altitude
Location loc = gps.location();
// set ahrs object's home position
ahrs.set_home(loc);
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = longitude_scale(loc);
scaleLongUp = 1.0f/scaleLongDown;
}