From 0fd6fb53f33bbe923973ee519e2464655f2c2bc5 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sat, 5 Apr 2014 17:07:15 +0400
Subject: [PATCH] position_estimator_inav: projection reinitialization on home
 change fixed

---
 .../position_estimator_inav/position_estimator_inav_main.c    | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index b77e51521c..5a713d309b 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -544,13 +544,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				if (home.timestamp != home_timestamp) {
 					home_timestamp = home.timestamp;
 					if (ref_inited) {
-						ref_inited = true;
-
 						/* reproject position estimate to new reference */
 						float dx, dy;
 						map_projection_project(&ref, home.lat, home.lon, &dx, &dy);
 						x_est[0] -= dx;
-						y_est[0] -= dx;
+						y_est[0] -= dy;
 						z_est[0] += home.alt - local_pos.ref_alt;
 					}