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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-02 17:09:18 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-02 17:09:18 +0400 |
| commit | 93617c4073d560ec2a804d728a2830534a74a50a (patch) | |
| tree | 4df98518908c82c8d132ee45a13110ab69d64c9c /src/modules/commander/commander.cpp | |
| parent | 553b122830615b1617570900cf5f5d0c04720c8b (diff) | |
| download | px4-firmware-93617c4073d560ec2a804d728a2830534a74a50a.tar.gz px4-firmware-93617c4073d560ec2a804d728a2830534a74a50a.tar.bz2 px4-firmware-93617c4073d560ec2a804d728a2830534a74a50a.zip | |
commander: set home position on arming only if at least 2 s from commander start spent
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index a896f6146..7257cb4b3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1329,8 +1329,8 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]); - /* update home position on arming */ - if (armed.armed && !was_armed && status.condition_global_position_valid && + /* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */ + if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid && (global_position.eph < hdop_threshold_m) && (global_position.epv < vdop_threshold_m)) { // TODO remove code duplication |