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Check home reset in local frame

This commit is contained in:
sanderux 2017-12-19 02:34:48 +01:00 committed by Sander Smeets
parent 4e175d13c4
commit cf7ad67678
1 changed files with 3 additions and 3 deletions
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6
src/modules/commander/commander.cpp
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@ -3128,8 +3128,8 @@ int commander_thread_main(int argc, char *argv[])
float home_dist_xy = -1.0f;
float home_dist_z = -1.0f;
get_distance_to_point_global_wgs84(_home.lat, _home.lon, _home.alt, global_position.lat, global_position.lon,
global_position.alt, &home_dist_xy, &home_dist_z);
mavlink_wpm_distance_to_point_local(_home.x, _home.y, _home.z, local_position.x, local_position.y,
local_position.z, &home_dist_xy, &home_dist_z);
/* First time home position update - but only if disarmed */
if (!status_flags.condition_home_position_valid && !armed.armed) {
@ -3145,7 +3145,7 @@ int commander_thread_main(int argc, char *argv[])
/* update when disarmed, landed and moved away from current home position */
else if (status_flags.condition_home_position_valid && !armed.armed && land_detector.landed && !_home.manual_home &&
(home_dist_xy > global_position.epv * 2 || home_dist_z > global_position.eph * 2)) {
(home_dist_xy > local_position.epv * 2 || home_dist_z > local_position.eph * 2)) {
commander_set_home_position(home_pub, _home, local_position, global_position, attitude, false);
}