From 91a79543c93999af7f0aa3b027d71ddf3ef67da9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 24 Apr 2020 15:04:39 +0900
Subject: [PATCH] AP_NavEKF3: getLLH fix when no GPS available

---
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index f907aefdf6..a0604b9d5c 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -345,6 +345,8 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
                 return true;
             } else {
                 // if no GPS fix, provide last known position before entering the mode
+                loc.lat = EKF_origin.lat;
+                loc.lng = EKF_origin.lng;
                 loc.offset(lastKnownPositionNE.x, lastKnownPositionNE.y);
                 return false;
             }