Copter: stop changing frame to home when home not set #11067
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tridge
requested changes
Apr 16, 2019
ArduCopter/inertia.cpp
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| if (ahrs.home_is_set()) { | ||
| frame = Location::AltFrame::ABOVE_HOME; | ||
| current_loc.set_alt_cm(inertial_nav.get_altitude(), | ||
| Location::AltFrame::ABOVE_HOME); |
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this is incorrect, inav always give origin alt
peterbarker
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This was just a logic fail. Never change frame current-loc frame to home frame if we don't have a home set!