AP_NavEKF3: getLLH fix when no GPS available

2020-04-24 15:04:39 +09:00 · 2020-04-24 15:04:39 +09:00 · 91a79543c9
commit 91a79543c9
parent 2919491298
1 changed files with 2 additions and 0 deletions
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@ -345,6 +345,8 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
                return true;
            } else {
                // if no GPS fix, provide last known position before entering the mode
+                loc.lat = EKF_origin.lat;
+                loc.lng = EKF_origin.lng;
                loc.offset(lastKnownPositionNE.x, lastKnownPositionNE.y);
                return false;
            }