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Copter: avoid SITL failure when changing current_loc.alt frame

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This change avoids a SITL failure caused by an attempt to change current_loc.alt's frame when current_loc is 0,0,0
This commit is contained in:
Randy Mackay 2020-02-05 15:25:43 +09:00
parent 70311382d9
commit c7f8c6155b
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/inertia.cpp
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@ -20,7 +20,7 @@ void Copter::read_inertia()
// current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin // current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin
const int32_t alt_above_origin_cm = inertial_nav.get_altitude(); const int32_t alt_above_origin_cm = inertial_nav.get_altitude();
current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN); current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN);
if (!current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) { if (!ahrs.home_is_set() || !current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) {
// if home has not been set yet we treat alt-above-origin as alt-above-home // if home has not been set yet we treat alt-above-origin as alt-above-home
current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_HOME); current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_HOME);
} }