Copter: AP_Arming: Added check for EKF origin altitude

4 years ago · 3c83eecf78
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/commands.cpp
+++ b/ArduCopter/commands.cpp
@ -107,7 +107,7 @@ bool Copter::far_from_EKF_origin(const Location& loc)
				@@ -107,7 +107,7 @@ bool Copter::far_from_EKF_origin(const Location& loc)
 {
    // check distance to EKF origin
    Location ekf_origin;
-    if (ahrs.get_origin(ekf_origin) && (ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M)) {
+    if (ahrs.get_origin(ekf_origin) && ((ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M) || (labs(ekf_origin.alt - loc.alt) > EKF_ORIGIN_MAX_DIST_M))) {
        return true;
    }