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Plane: return MAV_RESULT_ACCEPTED for setting home to current location

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Peter Barker 2018-05-23 17:01:24 +10:00 committed by Andrew Tridgell
parent bc9df01d21
commit 18c4823427
1 changed files with 2 additions and 0 deletions
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2
ArduPlane/GCS_Mavlink.cpp
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@ -777,6 +777,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_FAILED; // assume failure result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1, 1.0f)) { if (is_equal(packet.param1, 1.0f)) {
plane.set_home_persistently(AP::gps().location()); plane.set_home_persistently(AP::gps().location());
result = MAV_RESULT_ACCEPTED;
} else { } else {
// ensure param1 is zero // ensure param1 is zero
if (!is_zero(packet.param1)) { if (!is_zero(packet.param1)) {
@ -1071,6 +1072,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_FAILED; // assume failure result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
plane.set_home_persistently(AP::gps().location()); plane.set_home_persistently(AP::gps().location());
result = MAV_RESULT_ACCEPTED;
} else { } else {
// ensure param1 is zero // ensure param1 is zero
if (!is_zero(packet.param1)) { if (!is_zero(packet.param1)) {