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Check manual home set when setting during arming

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sanderux
2017-12-20 10:19:07 +01:00
committed by Sander Smeets
parent 964cb486a9
commit a8c26265b5
1 changed files with 2 additions and 1 deletions
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src/modules/commander/commander.cpp
+2 -1
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@@ -971,7 +971,8 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
if (cmd_arms && (arming_res == TRANSITION_CHANGED) &&
(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL))) {
(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) &&
!home->manual_home) {
commander_set_home_position(*home_pub, *home, *local_pos, *global_pos, *attitude, false);
}