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@ -2807,6 +2807,8 @@ bool NavEKF::getLLH(struct Location &loc) const
@@ -2807,6 +2807,8 @@ bool NavEKF::getLLH(struct Location &loc) const
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loc.lat = _ahrs->get_home().lat; |
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loc.lng = _ahrs->get_home().lng; |
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loc.alt = _ahrs->get_home().alt - states[9]*100; |
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loc.flags.relative_alt = 0; |
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loc.flags.terrain_alt = 0; |
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location_offset(loc, states[7], states[8]); |
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return true; |
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} |
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