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commander: set home position on arming only if at least 2 s from commander start spent

This commit is contained in:
Anton Babushkin 2014-04-02 17:09:18 +04:00
parent 553b122830
commit 93617c4073
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/commander.cpp
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@ -1329,8 +1329,8 @@ int commander_thread_main(int argc, char *argv[])
status_changed = true;
mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]);
/* update home position on arming */
if (armed.armed && !was_armed && status.condition_global_position_valid &&
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid &&
(global_position.eph < hdop_threshold_m) && (global_position.epv < vdop_threshold_m)) {
// TODO remove code duplication