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Copter: use home_is_set function

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This commit is contained in:
Randy Mackay 2015-02-09 20:25:04 +09:00
parent e081b9d1c7
commit d5fd6d2a99
2 changed files with 2 additions and 2 deletions
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2
ArduCopter/events.pde
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@ -168,7 +168,7 @@ static void failsafe_gps_check()
uint32_t last_gps_update_ms;
// return immediately if gps failsafe is disabled or we have never had GPS lock
if (g.failsafe_gps_enabled == FS_GPS_DISABLED || !ap.home_is_set) {
if (g.failsafe_gps_enabled == FS_GPS_DISABLED || !home_is_set()) {
// if we have just disabled the gps failsafe, ensure the gps failsafe event is cleared
if (failsafe.gps) {
failsafe_gps_off_event();

2
ArduCopter/system.pde
View File

@ -334,7 +334,7 @@ static bool position_ok()
}
} else {
// with interial nav use GPS based checks
return (ap.home_is_set && gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
return (home_is_set() && gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
!gps_glitch.glitching() && !failsafe.gps &&
!ekf_check_state.bad_compass && !failsafe.ekf);
}