From 93617c4073d560ec2a804d728a2830534a74a50a Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 2 Apr 2014 17:09:18 +0400 Subject: [PATCH] commander: set home position on arming only if at least 2 s from commander start spent --- src/modules/commander/commander.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index a896f61462..7257cb4b31 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