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AP_AHRS: add semaphore around set_home()

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added semaphore around set_home() to avoid thread racing
This commit is contained in:
CallanDaniel 2021-06-22 14:26:20 +02:00 committed by Andrew Tridgell
parent d1a228b086
commit 16f7348f96
1 changed files with 1 additions and 0 deletions
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libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1089,6 +1089,7 @@ bool AP_AHRS_DCM::airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret)
bool AP_AHRS_DCM::set_home(const Location &loc) bool AP_AHRS_DCM::set_home(const Location &loc)
{ {
WITH_SEMAPHORE(_rsem);
// check location is valid // check location is valid
if (loc.lat == 0 && loc.lng == 0 && loc.alt == 0) { if (loc.lat == 0 && loc.lng == 0 && loc.alt == 0) {
return false; return false;