From 40b7000cfdc80f5d2bdfd29eb0c8e0bce27239c4 Mon Sep 17 00:00:00 2001
From: Olivier-ADLER <olivier-git@nerim.net>
Date: Sat, 15 Jun 2013 23:48:01 +0200
Subject: [PATCH] Copter: SuperSimple mode bug
SuperSimple bearing was updated without checking for GPS 3D Fix availability.
---
ArduCopter/navigation.pde | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index f7b89263e..7aa230bdc 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -68,7 +68,7 @@ static void calc_distance_and_bearing()
}
// calculate home distance and bearing
- if( ap.home_is_set ) {
+ if( ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D ) {
home_distance = pythagorous2(curr.x, curr.y);
home_bearing = pv_get_bearing_cd(curr,Vector3f(0,0,0));
--
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