From 74ae8849ec12ee2afeb20d4e37db43df5aa9213c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 15 Mar 2019 08:54:32 +1100 Subject: [PATCH] Copter: stop changing frame to home when home not set --- ArduCopter/inertia.cpp | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/ArduCopter/inertia.cpp b/ArduCopter/inertia.cpp index 4c28fb246086e..63e88021e12ba 100644 --- a/ArduCopter/inertia.cpp +++ b/ArduCopter/inertia.cpp @@ -15,13 +15,9 @@ void Copter::read_inertia() return; } - Location::AltFrame frame; + current_loc.set_alt_cm(inertial_nav.get_altitude(), + Location::AltFrame::ABOVE_ORIGIN); if (ahrs.home_is_set()) { - frame = Location::AltFrame::ABOVE_HOME; - } else { - // without home use alt above the EKF origin - frame = Location::AltFrame::ABOVE_ORIGIN; + current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME); } - current_loc.set_alt_cm(inertial_nav.get_altitude(), frame); - current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME); }