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Copter: stop changing frame to home when home not set #11067

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Copter: stop changing frame to home when home not set #11067

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10 changes: 3 additions & 7 deletions ArduCopter/inertia.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}