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AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM

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This commit is contained in:
Andrew Tridgell 2014-02-15 09:23:41 +11:00
parent 59a56c9b46
commit eedd88c2ec
2 changed files with 3 additions and 6 deletions
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7
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -861,17 +861,14 @@ float AP_AHRS_DCM::get_error_yaw(void)
// dead-reckoning or GPS // dead-reckoning or GPS
bool AP_AHRS_DCM::get_position(struct Location &loc) bool AP_AHRS_DCM::get_position(struct Location &loc)
{ {
if (!_have_position) {
return false;
}
loc.lat = _last_lat; loc.lat = _last_lat;
loc.lng = _last_lng; loc.lng = _last_lng;
loc.alt = _baro.get_altitude() * 100 + _home.alt; loc.alt = _baro.get_altitude() * 100 + _home.alt;
location_offset(loc, _position_offset_north, _position_offset_east); location_offset(loc, _position_offset_north, _position_offset_east);
if (_flags.fly_forward) { if (_flags.fly_forward && _have_position) {
location_update(loc, degrees(yaw), _gps->ground_speed_cm * 0.01 * _gps->get_lag()); location_update(loc, degrees(yaw), _gps->ground_speed_cm * 0.01 * _gps->get_lag());
} }
return true; return _have_position;
} }
// return an airspeed estimate if available // return an airspeed estimate if available

2
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -61,7 +61,7 @@ public:
void reset_attitude(const float &roll, const float &pitch, const float &yaw); void reset_attitude(const float &roll, const float &pitch, const float &yaw);
// dead-reckoning support // dead-reckoning support
bool get_position(struct Location &loc); virtual bool get_position(struct Location &loc);
// status reporting // status reporting
float get_error_rp(void); float get_error_rp(void);