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AP_AHRS: make setting of home boolean in preparation for sanity checks

This commit is contained in:
Peter Barker 2018-05-30 09:47:10 +10:00 committed by Peter Barker
parent b97f9cc555
commit 2e403bfd52
3 changed files with 5 additions and 3 deletions
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2
libraries/AP_AHRS/AP_AHRS.h
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@ -462,7 +462,7 @@ public:
// set the home location in 10e7 degrees. This should be called
// when the vehicle is at this position. It is assumed that the
// current barometer and GPS altitudes correspond to this altitude
virtual void set_home(const Location &loc) = 0;
virtual bool set_home(const Location &loc) WARN_IF_UNUSED = 0;
// set the EKF's origin location in 10e7 degrees. This should only
// be called when the EKF has no absolute position reference (i.e. GPS)

4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1031,7 +1031,7 @@ bool AP_AHRS_DCM::airspeed_estimate(float *airspeed_ret) const
return ret;
}
void AP_AHRS_DCM::set_home(const Location &loc)
bool AP_AHRS_DCM::set_home(const Location &loc)
{
_home = loc;
_home_is_set = true;
@ -1042,6 +1042,8 @@ void AP_AHRS_DCM::set_home(const Location &loc)
// send new home and ekf origin to GCS
gcs().send_home();
gcs().send_ekf_origin();
return true;
}
// a relative ground position to home in meters, Down

2
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -96,7 +96,7 @@ public:
bool use_compass() override;
void set_home(const Location &loc) override;
bool set_home(const Location &loc) override WARN_IF_UNUSED;
void estimate_wind(void);
// is the AHRS subsystem healthy?