From 8e75c9580ca454ed6e8906615f277f05d3419a6e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 15 Feb 2015 11:07:33 +0900
Subject: [PATCH] InertialNav: get_origin returns zero when no origin

If the EKF has not yet set the origin return location of all zeros
instead of uninitialised location
---
 libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
index 4156d0e5c9..91c2f3bdd6 100644
--- a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
@@ -57,7 +57,10 @@ nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
 struct Location AP_InertialNav_NavEKF::get_origin() const {
     if (_ahrs.have_inertial_nav()) {
         struct Location ret;
-        _ahrs_ekf.get_NavEKF().getOriginLLH(ret);
+        if (!_ahrs_ekf.get_NavEKF().getOriginLLH(ret)) {
+            // initialise location to all zeros if origin not yet set
+            memset(&ret, 0, sizeof(ret));
+        }
         return ret;
     }
     return AP_InertialNav::get_origin();