diff options
Diffstat (limited to 'src/modules/commander')
-rw-r--r-- | src/modules/commander/commander.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7ac7aff0f..077184bfb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1088,13 +1088,12 @@ int commander_thread_main(int argc, char *argv[]) if (!status.condition_home_position_valid && gps_position.fix_type >= 3 && (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) && - (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed - && global_position.global_valid) { + (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed) { /* copy position data to uORB home message, store it locally as well */ home.lat = gps_position.lat / (double)1e7; home.lon = gps_position.lon / (double)1e7; - home.alt = gps_position.alt; + home.alt = gps_position.alt / (float)1e3; warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt); mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt); |