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Copter: correct current_loc.alt to be above home instead of above ekf origin #13444

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Feb 5, 2020
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Copter: correct current_loc.alt to be above home instead of above ekf origin #13444

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13 changes: 6 additions & 7 deletions ArduCopter/inertia.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,12 +17,11 @@ void Copter::read_inertia()
return;
}

if (ahrs.home_is_set()) {
current_loc.set_alt_cm(inertial_nav.get_altitude(),
Location::AltFrame::ABOVE_HOME);
} else {
// without home use alt above the EKF origin
current_loc.set_alt_cm(inertial_nav.get_altitude(),
Location::AltFrame::ABOVE_ORIGIN);
// current_loc.alt is alt-above-home, converted from inertial nav's alt-above-ekf-origin
const int32_t alt_above_origin_cm = inertial_nav.get_altitude();
current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_ORIGIN);
if (!current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME)) {
// if home has not been set yet we treat alt-above-origin as alt-above-home
current_loc.set_alt_cm(alt_above_origin_cm, Location::AltFrame::ABOVE_HOME);
}
}