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ArduCopter: remove logging of first home location into CMD message set

This commit is contained in:
Peter Barker 2023-01-01 11:27:30 +11:00 committed by Andrew Tridgell
parent f0641f2734
commit 287b6e0364
1 changed files with 0 additions and 16 deletions
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16
ArduCopter/commands.cpp
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@ -54,7 +54,6 @@ bool Copter::set_home_to_current_location(bool lock) {
} }
// set_home - sets ahrs home (used for RTL) to specified location // set_home - sets ahrs home (used for RTL) to specified location
// initialises inertial nav and compass on first call
// returns true if home location set successfully // returns true if home location set successfully
bool Copter::set_home(const Location& loc, bool lock) bool Copter::set_home(const Location& loc, bool lock)
{ {
@ -69,26 +68,11 @@ bool Copter::set_home(const Location& loc, bool lock)
return false; return false;
} }
const bool home_was_set = ahrs.home_is_set();
// set ahrs home (used for RTL) // set ahrs home (used for RTL)
if (!ahrs.set_home(loc)) { if (!ahrs.set_home(loc)) {
return false; return false;
} }
// init inav and compass declination
if (!home_was_set) {
#if MODE_AUTO_ENABLED == ENABLED
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
logger.Write_Mission_Cmd(mode_auto.mission, temp_cmd);
}
}
#endif
}
// lock home position // lock home position
if (lock) { if (lock) {
ahrs.lock_home(); ahrs.lock_home();