AP_NavEKF2: fixed return of common origin

when common origin is set we should return that, not backends private origin
ArduPilot · Aug 21, 2024 · eac9c78 · eac9c78
1 parent 2fddb64
commit eac9c78
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1089,6 +1089,10 @@ bool NavEKF2::getOriginLLH(Location &loc) const
     if (!core) {
         return false;
     }
+    if (common_origin_valid) {
+        loc = common_EKF_origin;
+        return true;
+    }
     return core[primary].getOriginLLH(loc);
 }