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AP_NavEKF: fix bug causing takeoff to fail

mission-4.1.18
Jonathan Challinger 10 years ago committed by Randy Mackay
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c27b605b86
commit
142e018a18
1 changed files with 3 additions and 1 deletions
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  1. 4
      libraries/AP_NavEKF/AP_NavEKF.cpp

4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3760,6 +3760,7 @@ bool NavEKF::getLLH(struct Location &loc) const
loc.alt = EKF_origin.alt - state.position.z*100; loc.alt = EKF_origin.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;
// there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding) // there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding)
nav_filter_status status; nav_filter_status status;
getFilterStatus(status); getFilterStatus(status);
@ -3774,7 +3775,8 @@ bool NavEKF::getLLH(struct Location &loc) const
if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_2D)) { if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
// we have a GPS position fix to return // we have a GPS position fix to return
const struct Location &gpsloc = _ahrs->get_gps().location(); const struct Location &gpsloc = _ahrs->get_gps().location();
loc = gpsloc; loc.lat = gpsloc.lat;
loc.lng = gpsloc.lng;
return true; return true;
} else { } else {
// if no GPS fix, provide last known position before entering the mode // if no GPS fix, provide last known position before entering the mode

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