From 3a5807ae564086726265b6a6ef12f1c258962d3e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@recursion.fith.priv>
Date: Fri, 16 Mar 2018 12:04:49 +1100
Subject: [PATCH] AP_AHRS: move home_status into AP_AHRS

Storing home in the AHRS object but not its state is clearly evil.

Fix that.
---
 libraries/AP_AHRS/AP_AHRS.h | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 75d1cc167f..2694b06321 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -462,6 +462,16 @@ public:
         return _home;
     }
 
+    enum HomeState home_status(void) const {
+        return _home_status;
+    }
+    void set_home_status(enum HomeState new_status) {
+        _home_status = new_status;
+    }
+    bool home_is_set(void) const {
+        return _home_status != HOME_UNSET;
+    }
+
     // 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
@@ -673,6 +683,9 @@ protected:
 private:
     static AP_AHRS *_singleton;
 
+    // Flag for if we have g_gps lock and have set the home location in AHRS
+    enum HomeState _home_status = HOME_UNSET;
+
 };
 
 #include "AP_AHRS_DCM.h"