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AP_NavEKF: Make LLH output report last known position in const pos mode

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priseborough 2015-01-07 17:45:22 +11:00 committed by Andrew Tridgell
parent a0957a83f8
commit f0ea858e4c
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3644,7 +3644,11 @@ bool NavEKF::getLLH(struct Location &loc) const
loc.alt = _ahrs->get_home().alt - state.position.z*100; loc.alt = _ahrs->get_home().alt - state.position.z*100;
loc.flags.relative_alt = 0; loc.flags.relative_alt = 0;
loc.flags.terrain_alt = 0; loc.flags.terrain_alt = 0;
location_offset(loc, state.position.x, state.position.y); if (constPosMode) {
location_offset(loc, lastKnownPositionNE.x, lastKnownPositionNE.y);
} else {
location_offset(loc, state.position.x, state.position.y);
}
return true; return true;
} }