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commander home position update swap incorrect eph/epv for auto update

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This commit is contained in:
Daniel Agar
2018-03-25 13:44:09 -04:00
parent deb5cbcc82
commit c181501e27
1 changed files with 5 additions and 4 deletions
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src/modules/commander/commander.cpp
+5 -4
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@@ -2816,7 +2816,7 @@ Commander::run()
/* Get current timestamp */ /* Get current timestamp */
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = hrt_absolute_time();
// automaticcally set or update home position // automatically set or update home position
if (!_home.manual_home) { if (!_home.manual_home) {
if (armed.armed) { if (armed.armed) {
if ((!was_armed || (was_landed && !land_detector.landed)) && if ((!was_armed || (was_landed && !land_detector.landed)) &&
@@ -2831,10 +2831,11 @@ Commander::run()
/* distance from home */ /* distance from home */
float home_dist_xy = -1.0f; float home_dist_xy = -1.0f;
float home_dist_z = -1.0f; float home_dist_z = -1.0f;
mavlink_wpm_distance_to_point_local(_home.x, _home.y, _home.z, local_position.x, local_position.y, mavlink_wpm_distance_to_point_local(_home.x, _home.y, _home.z,
local_position.z, &home_dist_xy, &home_dist_z); local_position.x, local_position.y, local_position.z,
&home_dist_xy, &home_dist_z);
if (home_dist_xy > local_position.epv * 2 || home_dist_z > local_position.eph * 2) { if ((home_dist_xy > local_position.eph * 2) || (home_dist_z > local_position.epv * 2)) {
/* update when disarmed, landed and moved away from current home position */ /* update when disarmed, landed and moved away from current home position */
set_home_position(home_pub, _home, local_position, global_position, false); set_home_position(home_pub, _home, local_position, global_position, false);