From 0dc0e54767100e91cfa7e0931cfd9488373f56b7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 16 May 2018 13:29:13 +1000
Subject: [PATCH] Copter: move Log_Write_Home_And_Origin into AP_AHRS

---
 ArduCopter/Copter.h     |  1 -
 ArduCopter/Log.cpp      | 18 +-----------------
 ArduCopter/commands.cpp |  4 ++--
 3 files changed, 3 insertions(+), 20 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index eceb5b3cef..3a8cdf75ce 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -806,7 +806,6 @@ private:
     void Log_Write_Data(uint8_t id, float value);
     void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
     void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high);
-    void Log_Write_Home_And_Origin();
     void Log_Sensor_Health();
 #if FRAME_CONFIG == HELI_FRAME
     void Log_Write_Heli(void);
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 6bceaef90f..cd0f3d4303 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -361,21 +361,6 @@ void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t
     DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune));
 }
 
-// log EKF origin and ahrs home to dataflash
-void Copter::Log_Write_Home_And_Origin()
-{
-    // log ekf origin if set
-    Location ekf_orig;
-    if (ahrs.get_origin(ekf_orig)) {
-        DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
-    }
-
-    // log ahrs home if set
-    if (ahrs.home_is_set()) {
-        DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
-    }
-}
-
 // logs when baro or compass becomes unhealthy
 void Copter::Log_Sensor_Health()
 {
@@ -544,7 +529,7 @@ void Copter::Log_Write_Vehicle_Startup_Messages()
 #if AC_RALLY
     DataFlash.Log_Write_Rally(rally);
 #endif
-    Log_Write_Home_And_Origin();
+    ahrs.Log_Write_Home_And_Origin();
     gps.Write_DataFlash_Log_Startup_messages();
 }
 
@@ -569,7 +554,6 @@ void Copter::Log_Write_Data(uint8_t id, uint16_t value) {}
 void Copter::Log_Write_Data(uint8_t id, float value) {}
 void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
 void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {}
-void Copter::Log_Write_Home_And_Origin() {}
 void Copter::Log_Sensor_Health() {}
 void Copter::Log_Write_Precland() {}
 void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
diff --git a/ArduCopter/commands.cpp b/ArduCopter/commands.cpp
index 08b04fec61..56e95c1fde 100644
--- a/ArduCopter/commands.cpp
+++ b/ArduCopter/commands.cpp
@@ -100,7 +100,7 @@ bool Copter::set_home(const Location& loc, bool lock)
     }
 
     // log ahrs home and ekf origin dataflash
-    Log_Write_Home_And_Origin();
+    ahrs.Log_Write_Home_And_Origin();
 
     // send new home and ekf origin to GCS
     gcs().send_home(loc);
@@ -130,7 +130,7 @@ void Copter::set_ekf_origin(const Location& loc)
     }
 
     // log ahrs home and ekf origin dataflash
-    Log_Write_Home_And_Origin();
+    ahrs.Log_Write_Home_And_Origin();
 
     // send ekf origin to GCS
     gcs().send_ekf_origin(loc);