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Plane: don't overwrite home on an armed watchdog reset

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This commit is contained in:
Andrew Tridgell 2019-04-22 11:26:55 +10:00
parent ebbe01bd83
commit 340722c3c3
1 changed files with 6 additions and 0 deletions
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6
ArduPlane/commands.cpp
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@ -108,6 +108,9 @@ void Plane::set_guided_WP(void)
*/ */
void Plane::update_home() void Plane::update_home()
{ {
if (hal.util->was_watchdog_armed()) {
return;
}
if ((g2.home_reset_threshold == -1) || if ((g2.home_reset_threshold == -1) ||
((g2.home_reset_threshold > 0) && ((g2.home_reset_threshold > 0) &&
(fabsf(barometer.get_altitude()) > g2.home_reset_threshold))) { (fabsf(barometer.get_altitude()) > g2.home_reset_threshold))) {
@ -131,6 +134,9 @@ void Plane::update_home()
bool Plane::set_home_persistently(const Location &loc) bool Plane::set_home_persistently(const Location &loc)
{ {
if (hal.util->was_watchdog_armed()) {
return false;
}
if (!AP::ahrs().set_home(loc)) { if (!AP::ahrs().set_home(loc)) {
return false; return false;
} }